Enhanced Trajectory Tracking via Disturbance-Observer-Based Modified Sliding Mode Control

Trajectory tracking is a crucial aspect of controlling nonlinear systems and an important area research. Researchers have proposed several strategies to perform this task in the presence perturbations, which are sum system’s uncertainty, modeling errors, external disturbances. Nonlinear systems, such as robot manipulators, complex dynamics, deriving their exact mathematical models tedious task. Therefore, objective research design model-free form control for systems. To achieve goal, sliding mode (SMC) with proportional-integral-derivative (PID) surface was designed integrated saturation-function-based extended-state observer (ESO). In (ESO), primary concept define perturbation. The ESO estimates states perturbation, including known unknown uncertainties, disturbances, considered perturbations. estimated perturbation used closed loop cancel actual This perturbation-rejection technique improved controller’s performance, resulting reduced position error, sensitivity low-frequency elements small magnitude switching gain. algorithm requires minimal information about system, specifically feedback, and, therefore, there no need identify system parameters. A analysis performed detail, compared existing ESO-based SMC algorithm. Simulations were conducted using MATLAB/SimMechanics on two different comparison results validated performance previous