Integral Sliding Mode Robust Control of Manipulator Based on Disturbance Observer and HJI Theory

Abstract

This paper proposes a novel integral sliding mode robust control method for tracking control of robot manipulators based on Hamilton-Jacobi Inequality theory and a nonlinear disturbance observer. Firstly, the dynamic model of the manipulator considering the uncertainty and external disturbance is established through the Lagrange method. Secondly, a nonlinear disturbance observer is designed to estimate and compensate the composite interference. Hamilton-Jacobi Inequality theory and the designed disturbance observer are then applied to design the integral sliding mode robust control law with a new integral sliding mode surface. Finally, the proposed controller is employed for tracking control of a two-degree-of-freedom manipulator and compared with the conventional sliding mode controller. The comparison results demonstrate that the proposed approach can provide superior performance such as high tracking accuracy, fast transient response, and low chattering.