Adaptive second order sliding-mode control for rigid robots

A novel robot controller is proposed, borrowing ideas from sliding mode and adaptive control. It is a mix between a computed torque and a passivity based controller and uses a second order measure of tracking accuracy. The paper provides ample evidence, by convergence analysis, simulations, and experiments, that the new controller will function well in practice. Based on the results, the controller seems to be a welcome addition to the class of tracking controllers for rigid robots with significant parameter uncertaint