Chattering reduction of disturbance observer based sliding mode control

The reduction of the chattering of servomotor sliding mode control is achieved by a combination of disturbance observer and feedforward control. Using the Lyapunov stability theorem, a design methodology of disturbance observer based sliding mode control is proposed, and the result is applied to a two axis SCARA robot. Through simulations and experiments, it is verified that the proposed control scheme has an advantage in less chattering with the robustness of sliding mode control. Also, the calculation of the reference angles is proposed to enhance the robustness of the proposed control