Adaptive Backstepping Sliding Mode Control of Trajectory Tracking for Robotic Manipulators

Table 1

Variables description of the two-link robotic manipulator.

Description	Nominal value
Center of mass link 1: (kg)	0.1
Length of link 1: (m)	0.8
Length of center of mass link 1: (m)	0.4
Centroid inertia of link 1: (kgm^2)	0.064
Center of mass link 2: (kg)	0.1
Length of link 2: (m)	0.4
Length of center of mass link 2: (m)	0.2
Centroid inertia of link 2: (kgm^2)	0.016