Adaptive Inversion Sliding Mode Control of Double-joint Manipulator Based on Nonlinear Disturbance Observer

Abstract

In order to achieve effective control of the dual joint manipulator in the presence of interference, an adaptive inversion sliding mode control strategy based on nonlinear interference observer is designed for the dual joint manipulator: Firstly, a disturbance observer is designed based on the mathematical model of the manipulator, which effectively reduces the influence of external disturbances on the system; Furthermore, according to the sliding mode control principle, the equivalent control plus variable structure control is used to design the control law to achieve the robustness of the system. Finally, taking the two joint manipulator as the research object, the control strategy is simulated with matlab software. the results show that the control strategy based on nonlinear disturbance observer can effectively improve the anti-interference ability, and has good robustness.