Fuzzy Disturbance Observer-based Adaptive Backstepping Sliding Mode Control of Manipulators

The manipulator is a kind of nonlinear system with multiple inputs and multiple outputs. Its dynamic model usually contains certain structural uncertainties and is affected by unknown external disturbances.An adaptive backstepping sliding mode control method based on fuzzy disturbance observer is proposed to solve the problem of trajectory tracking control for the manipulator in this paper.On the basis of the compensation for the external disturbance and structural uncertainties,the adaptive upper bound is determined from the stability,which can eliminate the chattering problem very well.The simulation results show that the proposed method has higher tracking accuracy than ordinary nonlinear sliding mode control, and greatly improves the robustness to external disturbances, system uncertain information and parameter changes.