Model-free adaptive sliding mode control with adjustable funnel boundary for robot manipulators with uncertainties.

Considering that the nominal dynamics model or numerous parameters of robotics are usually unsuitable for real applications, a model-free adaptive sliding mode control with an adjustable funnel boundary is proposed for robot manipulators with uncertainties. First, time delay estimation (TDE) technique is utilized to estimate the unknown dynamics of the control system, which ensures an attractive model-free advantage. Furthermore, a modified funnel function is introduced to transform the trajectory tracking error fall within an adjustable funnel boundary strictly.