Abstract: A nonlinear sliding mode control strategy of manipulator based on disturbance observer is designed for the characteristics of the manipulator which is sensitive to internal parameter disturbance and the external disturbance in the position tracking. According to the system dynamics model and Lyapunov stability theory, the uncertainties and external disturbances of the system are observed by disturbance observer. At the same time, the nonlinear sliding mode controller is designed and the Lyapunov function is constructed to verify the stability of the system. On this basis, the system control law and the sliding mode control law are designed to compensate the unobserved interference to ensure the stability of the system and improve the tracking performance of the manipulator. The simulation results show that the strategy can overcome the interference caused by many factors and improve the control performance of the system.

Key words: Manipulator, Disturbance Observer, Nonlinear Sliding Mode Control, Lyapunov Function