Design of efficient sliding mode controller for robot manipulator using disturbance observer

In this paper, we propose a sliding mode tracking control for robot manipulators using a disturbance observer, to eliminate the chattering problem existed i n conventional sliding mode control under modeling erro r and payload unc e rtainty . The proposed sliding mode control is presented in two theorems. The bounded stability of the proposed control method is proven and the efficiency of the control algorithms has been demonstrated b y simulations for a position tracking control of a robot subject to parameter and payload uncertaintes.