Sliding mode control with perturbation estimation: application on DD robotmechanism

In this work another perturbation estimation sliding mode based control alg orithm is introduced for a class of robotic systems in the presence of stru ctured and unstructured uncertainties and external disturbances. The effect s of these uncertainties are combined into a single quantity. A full order device with the actuator voltages as control inputs is assumed in control d esign. The decentralized control scheme with only a partial state feedback is applied. A modification of the switching functions with perturbation est imation is introduced. The salient features of this approach is that the pe rturbations are effectively treated by a computationally straightforward pr ocedure. The proposed controller is applied to a minimal configuration dire ct drive robot mechanism.