Date of Award


Document Type



Edith Cowan University

Degree Name

Master of Science


Faculty of Science, Technology and Engineering

First Supervisor

Dr Zhihong Man


This thesis presents two new adaptive control laws that use the terminal sliding mode technique for the tracking problem of rigid robotic manipulators with non-linearities, dynamic couplings and uncertain parameters. The first law provides a robust scheme which uses several properties of rigid robotic mauipulators and adaptively adjusts seven uncertain parameter bounds. The law ensures finite time error convergence to the system origin and is simple to implement The second law treats the manipulator as a partially known system. The known dynamics are used to build a nominal control law and the effects of unknown system dynamics arc compensated for by use of a sliding mode compensator. The resulting control law is robust, asymptotically convergent, has finite time convergence to the sliding mode and allows for bounded external disturbances. It is easy to implement and requires no bounds on system parameters, adaptively adjusting only three bounds on system uncertainties. Both laws are extended to include a reduction of chattering by use of the boundary layer technique. They are tested via application to a two-link robot simulated using MatLab.

Included in

Robotics Commons