Non-singular Terminal Sliding Mode Control of Manipulator Based on Expansion State Observer
To deal with the problem of trajectory tracking of manipulators under the influence of system parame-ter uncertainty and external disturbances,based on the improved expansion state observer and sliding mode control theory,a new control method combining expansion state observer and non-singular terminal sliding mode is de-signed.Firstly,a nonsingular terminal sliding mode controller is designed for the manipulator model to improve the control accuracy.Secondly,an improved extended state observer is designed for the total disturbance,and the ob-server results are introduced into the controller to compensate the disturbance.The stability of the closed-loop sys-tem is proved by the Lyapunov stability theory.Finally,the superiority of the control method in this paper is veri-fied bycomputer simulation.
manipulatorsexpansion state observernonsingularterminal sliding mode controller
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