Nonlinear Sliding Mode Control for Robotic Manipulator Based on Disturbance Observer

Authors

Gensuo Mi, College of Automation and Electrical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China;
Huaqi Liang, College of Automation and Electrical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China;

Abstract

Abstract: A nonlinear sliding mode control strategy of manipulator based on disturbance observer is designed for the characteristics of the manipulator which is sensitive to internal parameter disturbance and the external disturbance in the position tracking. According to the system dynamics model and Lyapunov stability theory, the uncertainties and external disturbances of the system are observed by disturbance observer. At the same time, the nonlinear sliding mode controller is designed and the Lyapunov function is constructed to verify the stability of the system. On this basis, the system control law and the sliding mode control law are designed to compensate the unobserved interference to ensure the stability of the system and improve the tracking performance of the manipulator. The simulation results show that the strategy can overcome the interference caused by many factors and improve the control performance of the system.

Recommended Citation

Mi, Gensuo and Liang, Huaqi (2019) "Nonlinear Sliding Mode Control for Robotic Manipulator Based on Disturbance Observer," Journal of System Simulation: Vol. 31: Iss. 9, Article 24.
DOI: 10.16182/j.issn1004731x.joss.17-0308
Available at: https://dc-china-simulation.researchcommons.org/journal/vol31/iss9/24

First Page

1935

Revised Date

2017-10-10

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.17-0308

Last Page

1941

CLC

TP273

Recommended Citation

Mi Gensuo, Liang Huaqi. Nonlinear Sliding Mode Control for Robotic Manipulator Based on Disturbance Observer[J]. Journal of System Simulation, 2019, 31(9): 1935-1941.

DOI

10.16182/j.issn1004731x.joss.17-0308