Extended State Observer Based Sliding Mode Control For 6 DOF Manipulator With Lumped Uncertainties

This paper proposes an active disturbance rejection control (ADRC) for a 6-DOF manipulator with the model uncertainties and external disturbances. The proposed control is developed based on the sliding mode control (SMC) and the extended state observer (ESO). The SMC in the suggested control ensures that the tracking problem is solved and that the manipulators have quick reactions. The ESO estimates not only the change values but also uncertainties in the model. Based on those advantages, the proposed method does not only estimate the lumped uncertainties but also compensates control signals for improving the tracking issue. A Lyapunov approach is investigated to analyze the stability and robustness of the whole system. Finally, the proposed control is applied for the 6-DOF manipulator on MATLAB/Simulink to prove its effectiveness.