Abstract This paper investigates the trajectory tracking problem of robot manipulator with unknown uncertainties and external disturbances. To actively compensate the total disturbance including the external disturbance and the uncertainties, a novel disturbance observer is developed. Then, by incorporating the disturbance estimate in the novel chattering-free adaptive sliding mode controllers, two kinds of composite trajectory tracking control approaches are established to achieve high-precision tracking performance and strong robustness. Finally, the effectiveness of this proposed approach is validated by simulations on a 2-DOF robot manipulator.

中文翻译：

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具有自抗扰的机器人机械手复合轨迹跟踪控制

摘要 本文研究了具有未知不确定性和外部干扰的机器人机械手的轨迹跟踪问题。为了主动补偿包括外部干扰和不确定性在内的总干扰，开发了一种新的干扰观测器。然后，通过在新型无颤动自适应滑模控制器中加入扰动估计，建立了两种复合轨迹跟踪控制方法，以实现高精度跟踪性能和强鲁棒性。最后，通过对 2-DOF 机器人操纵器的模拟验证了该方法的有效性。