Terminal Sliding Mode Control with Sliding Perturbation Observer for a Hydraulic Robot Manipulator

摘要

A new design approach of sliding mode control with terminal sliding mode and sliding perturbation observer for a hydraulic robot manipulator is described in this paper. A sliding perturbation observer can observe the unknown states and disturbance. The estimated states and perturbation are used in sliding mode for more accuracy tracking. However, it occurs some time delay when use the combined controller. Terminal sliding surface can drive the system tracking error to origin with as faster speed than conventional one. Thus, terminal sliding mode control with sliding perturbation observer is designed with both fast convergence speed and high precision. In this paper, the experiment result demonstrate that.