Improved perturbation estimation in sliding mode motion control of DD robot

Abstract

In this work a new perturbation estimation sliding mode based control algorithm was introduced for a class of nonlinear mechatronics systems in the presence of structured and unstructured uncertainties and external disturbances. The effects of these uncertainties are combined into a single quantity called perturbation. The full order plant with the actuator voltages as control inputs is assumed in control design. The decentralised control shame with only the partial state feedback is applied. A modification of the switching functions with perturbation estimation is introduced. This modification enables the application of the proposed control algorithm also on reduced order plant with torques as control inputs. The salient feature of this approach is that the perturbations are effectively treated by a computationally straightforward procedure. The proposed controller is applied on a minimal configuration direct drive robot mechanism.