Adaptive backstepping sliding mode control of manipulator based on nonlinear disturbance observer

Abstract

To enhance the precision and efficiency of manipulation trajectory tracking, a trajectory tracking control strategy combining nonlinear disturbance observer and adaptive inverse sliding mode control is designed. Prior to designing the operator trajectory tracking control strategy, the general kinetic model of the manipulator must be constructed. For the observable part of the disturbance signal, the nonlinear disturbance observer is used for online observation, and the observation error converges exponentially by selecting appropriate parameters; For the unobservable part, the adaptive law is used to compensate, and the Lyapunov stability theory establishes the system’s stability. According to the simulation results, the other two methods, the approach suggested in this paper not only speeds up the response speed of the system but also can better overcome the uncertainty of the object and external random interference, significantly reducing system chatter and enhancing the system’s ability to exert control.