This paper develops an adaptive super-twisting global nonlinear sliding mode control technique for n-link rigid robotic manipulators. A novel control law is designed to guarantee elimination of the reaching phase and existence of the sliding mode around the surface right from the initial time. Furthermore, the adaptive tuning law eliminates requirement of the knowledge about the upper bounds of external disturbances. By using the proposed method, a robust controller is designed so that the tracking error of rigid manipulator is convergent to the global nonlinear sliding surface in a finite time, and strong robustness with respect to large uncertainties and disturbances is guaranteed. Illustrative simulations on a two-link elbow robot manipulator and a three degree of freedom rigid manipulator are presented to show the robustness and effectiveness of the suggested design compared to other method. Moreover, a simulation as well as experimental study of a rotary inverted pendulum system demonstrates the applicability of the proposed method.

In this paper, a 6-Degrees-of-Freedom (6-DOF) Unmanned Aerial Vehicle (UAV) system with external disturbance corresponding to sensor failure is considered. The control method is presented in two parts. In the first part, the upper bound of external disturbance is known and a Proportional-Integral-Derivative (PID) Sliding Mode Control (SMC) technique is planned for maintaining the desired position in the finite time. Whereas, the upper bound of the external disturbance is considered unknown in the second part and the adaptive PID-SMC method is offered for stability and position tracking control of UAV systems. Using the Lyapunov stability notion, the offered control method proves that the quadrotor’s states can be tracked and stabilized in the finite time. Moreover, for the approximation of unknown bound of the external disturbances which are entered in the quadrotor dynamic model at any moment, adaptive control laws have been applied. Finally, simulation outcomes are provided to display the efficiency of the recommended technique.