Disturbance Observer Based on Matched Uncertainty Sliding Mode Control

In this paper, a sliding mode control method based on nonlinear disturbance observer is proposed for matched uncertain robot manipulators. By designing a new sliding mode surface based on interference estimation, a robot SMC method based on DOB is came up offset the unmatched interference. Firstly the on-off gain only needs to design the boundary of the interference estimation error which alleviate the buffeting problems. Numerical simulation results and application examples show that the proposed method is superior to the ITSMC and CTSMC methods in suppressing chattering and restoring nominal performance.