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Sliding Mode Switching Control of Manipulators Based on Disturbance Observer

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Abstract

This paper addresses the sliding mode switching control problem based on disturbance observer for an uncertain robot manipulator system. To enhance the robustness and the anti-disturbance capability of the system control algorithm, the manipulator’s switching model is composed of two parts: a slide mode controller and a disturbance observer. Based on multiple Lyapunov stability theorem and average dwell-time method, it is proved that the proposed control scheme can guarantee the global stability and robustness of the resulting closed-loop system of robot manipulators system. The application of the proposed switching control scheme with disturbance observer to a robot manipulator shows satisfactory tracking error performance than in the case of switching control strategy without disturbance observer.

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Acknowledgments

The work is supported by the National Natural Science Foundation of China (Nos. 61403268, 61673148), China Postdoctoral Science special Foundation Funded Project (No. 2015T80583), Natural Science Fund for Colleges and Universities in Jiangsu Province (No. 16KJB120005), The Foundation of Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, China. (No. Scip201505), and The Key Technology Program of Suzhou, China (No. SYG201639). The authors would like to thank the referees for their constructive comments.

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Authors and Affiliations

  1. School of Mechanical and Electric Engineering, Soochow University, Suzhou, 215021, China

    Lei Yu & Jun Huang

  2. Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, 200240, China

    Lei Yu

  3. School of Automation, Southeast University, Nanjing, 210096, China

    Shumin Fei

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  1. Lei Yu
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  2. Jun Huang
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  3. Shumin Fei
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Correspondence to Lei Yu.

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Yu, L., Huang, J. & Fei, S. Sliding Mode Switching Control of Manipulators Based on Disturbance Observer. Circuits Syst Signal Process 36, 2574–2585 (2017). https://doi.org/10.1007/s00034-016-0421-5

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  • DOI: https://doi.org/10.1007/s00034-016-0421-5

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