Design of robust sliding mode control with disturbance observer for multi-axis coordinated traveling system

This paper dealswith the robust control strategy formulti-axis coordinatedmotion system. Firstly, the adjacent cross-coupling error control method was introduced to reduce the synchronization error. Then, the slidingmode control (SMC) lawbasedon themathematical model of the plant was adopted for restraining parameter perturbation. Furthermore, addressing the unknown torque disturbance, a disturbance observer was proposed. The switching gain of the robust control algorithm can be set as a smaller value so that the chattering on the sliding mode plane can be decreased. The simulation results have proved the effectiveness of the proposed control algorithm. © 2011 Elsevier Ltd. All rights reserved.