Backstepping Adaptive Sliding Mode Control for Horizontal Underactuated Manipulators

A method of backstepping adaptive sliding mode control based on hierarchical sliding mode control theory is presented for a 2-DOF horizontal underactuated manipulator.The method can achieve underactuated system's feedback sliding mode control without either complex coordinate transformation for the system state model or constraint equation restrictions.Simulation results show that the method is valid and the optimized controller can get better adaptability and control results.