Sliding Mode Control for Flexible Joint using Uncertainty and Disturbance Estimation
نویسنده
چکیده
Index Terms—sliding mode control, uncertainty and disturbance estimation, flexible joint. Abstract—This paper proposes sliding mode control based on uncertainty and disturbance estimator (UDE), for trajectory tracking control of flexible joint robotic system. UDE is used to estimate plant uncertainty and disturbances. The controller does not requires knowledge of plant uncertainty and external disturbance. Reaching phase is eliminated for robustification. The perturbation is efficiently compensated by feedback of the estimated value. The proposed reference model is to track the plant states according to this model. The closed loop stability for this model with uncertainty and disturbance is also proposed.
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