OBSERVER-BASED SLIDING MODE CONTROL OF A ROBOTIC MANIPULATOR

This paper presents a new approach for the design of variable structur e control (VSC) of nonlinear systems. The approach is based on estimat ion of joint acceleration signals with introduction of load estimation with the asymptotic observer. The control system is insensitive to pa rameter variations for a chosen switching hypersurface in conditions w hen it is reached by the dynamic motion with the required dynamics. Th e parameter insensitive response provided by this control method is de monstrated on the model of the SCARA robot. Simulation results confirm the validity of accurate tracking capability and the robust performan ce.