  In this paper, we propose and demonstrate an adaptive-sliding mode control
for trajectory tracking control of robot manipulators subjected to uncertain
dynamics, vibration disturbance, and payload variation disturbance. Throughout
this work we seek a controller that is, robust to the uncertainty and
disturbance, accurate, and implementable. To perform these requirements, we use
a nonlinear Lyapunov-based approach for designing the controller and
guaranteeing its stability. MATLAB-SIMULINK software is used to validate the
approach and demonstrate the performance of the controller. Simulation results
show that the derived controller is stable, robust to the disturbance and
uncertainties, accurate, and implementable.
