Terminal sliding mode control for a military robot system with nonlinear disturbance observer

A novel type of control scheme combined the nonlinear disturbance observer based control (NDOBC) with terminal sliding mode control is proposed for a military robot system. The terminal sliding mode controller is designed for the robot system by adopting a non-singular terminal sliding mode manifold. This controller can make the states not only reach the manifold in finite time, but also obtain a faster convergence and a better tracking precision. Meanwhile, design the nonlinear disturbance observer to observe the uncertainties and disturbance of the system. The chattering of sliding mode control is reduced. The proposed controller can guarantee stabilization of the tracing system. Simulation results show that the controller is valid.