Hamidreza Pourmahdian - Department of Electrical Engineering, North Tehran branch, Islamic Azad University, Tehran, Iran
Shoorangiz Shams Shamsabad Farahani - Department of Electrical Engineering, Islamshahr branch, Islamic Azad University, Islamshahr, Iran
Mohammad Ghanbarisabagh - Department of Electrical Engineering, North Tehran branch, Islamic Azad University, Tehran, Iran

This paper deals with sliding mode adaptive control techniques to design a control law for robotic manipulators. The performance and applicability of the proposed method is demonstrated for a two degree of freedom robot. First, a sliding mode adaptive controller is designed to govern the dynamic model of robot, then the performance of the proposed robot is demonstrated through simulation studies. This method deals with adaptive and sliding mode control of robotic manipulators for trajectory tracking

sliding mode control, adaptive control, robotic manipulators