ABSTRACT
The trajectory tracking and control of robotic systems requires control algorithms that can effectively deal with the nonlinearities of the system without the need for approximation, modeling uncertainties and input disturbances. Sliding mode control theory provides a methodology to design trajectory tracking and control systems for robotic systems with all of their associated features. Sliding mode control algorithms ensure that the desired system dynamics is insensitive to parameter variations, system perturbations and external disturbances. When well-defined upper and lower bounds of the model parameters and the disturbances are known, sliding mode controllers capable of trajectory tracking with a high accuracy within a finite transient time frame can be designed.
