Dual quaternion-based moving target trajectory tracking adaptive sliding mode control for robotic manipulator

<p>This article focuses on the moving target trajectory tracking control problem for robotic manipulator. The dynamics models of the rigid-body moving target and the manipulator end-effector based on the unit dual quaternion are firstly established. Then, the relative motion dynamics equation is deduced according to the arithmetic rules of dual quaternion.</p>\n<p>Further, an adaptive sliding mode controller is put forward to guarantee that the error between the pose of the rigidbody moving target and the pose of manipulator end-effector asymptotically converges to zero, where the upper bound on the norm of the uncertainty in the second-order differential error dynamics equation is estimated online by adaptive law. It is ensured via the Lyapunov theory that the asymptotic stability of the closed-loop system. Numerical simulation validates the theoretical consequences.</p>