Adaptive sliding mode disturbance observer-based composite trajectory tracking control for robot manipulator with prescribed performance

In this paper, the problem of composite trajectory tracking control for robot manipulator with lumped uncertainties including unmodeled dynamics and external disturbances is investigated. To achieve active disturbance rejection, adaptive sliding mode observer proposed to estimate unknown in absence prior upper bound information on uncertainties. Then, by combining non-singular terminal prescribed performance approaches, controller designed, not only finite-time convergence errors, but also performances are guaranteed. Finally, applying scheme a two-DOF system, effectiveness advantages verified numerical simulations.