Sliding mode control with perturbation estimation: application on DD robot mechanism

In this work another perturbation estimation sliding mode based control algorithm is introduced for a class of robotic systems in the presence of structured and unstructured uncertainties and external disturbances. The effects of these uncertainties are combined into a single quantity. The full order plant with the actuator voltages as control inputs is assumed in control design. The decentralized control scheme with only the partial state feedback is applied. A modification of the switching functions with perturbation estimation is introduced. 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.