Chattering-free sliding mode tracking control for robotic manipulator with actuator dynamics

Abstract

For the tracking control of robotic manipulator with actuator dynamics, this paper proposed a chattering-free sliding mode control scheme based on linear extended state observer. To deal with the system uncertainties, a linear extended state observer is designed, which can achieve the estimations of the system states and the uncertainties. A fast sliding mode surface is constructed to ensure fast convergence of the tracking error. Then, a chattering-free sliding mode control scheme is designed to facilitate the practical application of the controller. Finally, comparative simulation results are given to verify the effectiveness of the proposed control scheme.