Optimal design procedure of disturbance observer based sliding mode CP control for two axis SCARA robot

Abstract

Using the Lyapunov stability theorem, an optimal design procedure for a disturbance observer based sliding mode CP (continuous pass) control is proposed. The result is applied to the two axis SCARA robot trajectory control. Through simulations and experiments, it was verified that the proposed approach is an effective design chart of observer based sliding mode control. Very robust sliding mode control was realized with less chattering.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>