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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)


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.