Chattering reduction of disturbance observer based sliding mode control

The reduction of the chattering of sliding mode control is achieved by a combination of the 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 the two-axis SCARA robot. Simulations and experiments verified that the proposed control has the advantage of less chattering with the robustness of sliding mode control. Also, the calculation of the reference angles is proposed to enhance the robustness of the control