A novel sliding mode control for robotic manipulator based on finite-time disturbance observer

摘要

This paper proposes a new-type finite-time disturbance observer (FTDO) in conjunction with backstepping sliding mode control (B-SMC) method, which is aimed to decrease the influence of external disturbances and uncertainties on the tracking performance of the system. Concretely, first of all, a FTDO is established to observe disturbance. Afterwards, a B-SMC is designed, and the double-power reaching law is developed to reduce chattering generated by sliding mode switch item, which obtains better dynamic quality in sliding mode approach stage and the characteristic of finite time convergence. Finally, some results for a two-joint manipulator illustrate the effectiveness of the developed control technique.