Sliding Mode Switching Control of Manipulators Based on Disturbance Observer

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.