Adaptive Sliding Mode Control with Disturbance Observer for Trajectory Tracking of Robotic Milling

This article examines the trajectory tracking of a robotic manipulator in the milling process, considering periodic machining disturbances and parameter uncertainties. Anonlinear disturbance observer is employed to estimate and compensate for milling disturbance, and an adaptive practical sliding mode control method is designed to achieve fast and accurate control. The switching gain is adaptively adjusted to ensure strong global robustness, while the boundary layer is utilized for chattering avoidance. The proposed method's performance and superiority are validated through simulations of a six-link manipulator moving along the desired milling trajectory.