Adaptive sliding mode control of a class of nonlinear systems with artificial delay

In this paper, an adaptive-robust control (ARC) strategy, christened as Adaptive Time-delayed Sliding Mode Control (ATSMC) is presented for trajectory tracking control of a class of uncertain Euler-Lagrange systems. The proposed control framework brings together the best features of the switching control logic and time-delayed logic. ATSMC uses artificial time delay to approximate the unknown dynamics through time-delayed logic, and the...