A new integral variable structure regulation controller for robot manipulators with accurately predetermined output

In this paper, a new prescribed variable structure regulation controller is designed for highly nonlinear robot manipulators using an integral sliding surface and disturbance observer. With the sliding mode control algorithm, it is possible to guarantee the predetermined output within the prescribed accuracy based on the integral sliding surface especially for removing the reaching phase and the disturbance observer for efficient compensation. In regulation, the desired transient and steady state output is prescribed by means of the sliding dynamics, and the real output with the prescribed accuracy is controlled by the continuous input based on the sliding mode control with the disturbance observer, which are investigated through the two theorems together with the closed loop stability of the algorithm. The usefulness of the algorithm has been demonstrated by simulations about regulation controls of a two-link robot under parameter and payload uncertainties.