Perturbation estimation in sliding mode motion control

A perturbation estimation sliding mode based motion control algorithm was introduced for a class of nonlinear mechatronics systems in the presence of structured and unstructured uncertainties and external disturbances. The effects of these uncertainties are combined into a single quantity called perturbation. The dynamics of the mechatronics system is treated with and without the dynamics of the actuators. When the dynamics of the actuators is included, the design of the sliding modes for the systems with discontinuous control is performed. If actuator dynamics is neglected the control is assumed to be a continuous quantity. In both cases, in the proposed algorithm only the partial state feedback combined with perturbation estimation is used for switching functions calculation. The salient feature of the proposed approach is that the perturbations are effectively treated by a computationally straightforward procedure.