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

Boris  Curk a1 and Karel  Jezernik a1
a1 University of Maribor, Faculty of Electrical Engineering and Computer Science, Smetanova 17, 2000 Maribor (Slovenia) [email protected]


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. A full order device with the actuator voltages as control inputs is assumed in control design. The decentralized control scheme with only a partial state feedback is applied. A modification of the switching functions with perturbation estimation is introduced. The salient features of this approach is that the perturbations are effectively treated by a computationally straightforward procedure. The proposed controller is applied to a minimal configuration direct drive robot mechanism.

(Received May 30 2001)

Key Words: Sliding mode control; Perturbation estimation; Uncertainties; External disturbances; Control scheme.