Sliding Mode Control of the Master Manipulator Based on Disturbance Observer
نویسندگان
چکیده
Abstract A sliding mode control (SMC) with improved exponent reaching law based on disturbance observer (DOB) is proposed for the robot control, to solve the problem of robot system which is vulnerability to external interferences and has some uncertainties. The disturbance observer (DOB) would detect and compensate external disturbances and uncertainties in the robot system, so that the movement of the robot would be in accordance with the desired trajectory. Besides, a variable exponent reaching law is designed to reduce the chattering phenomenon in sliding mode control (SMC). The simulation results demonstrate that sliding mode control based on disturbance observer can estimate the uncertainties and external interference of the robot accurately, and reduce the chattering effectively, the robot actual trajectory is consistent with the desired trajectory, be able to achieve precise control and excellent control performance.
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