Sliding mode tracking control of a two-link robotic manipulator using nonlinear disturbance observer

A sliding mode position tracking control scheme is proposed for a two-link robotic manipulator in this paper. A nonlinear disturbance observer (NDO) is taken to enhance trajectory tracking precision and system robustness since the robotic manipulator usually suffers from system uncertainty and disturbance in complex external environment. The closed-loop system stability is analyzed based on the Lyapunov theory. The simulation results are provided to demonstrate the effectiveness of the developed sliding mode trajectory tracking method.