Distributed Sliding Mode Control with Disturbance Observer Of Multi-manipulator Systems

This paper proposes a distributed control strategy for the composite disturbance problem in multimanipulator systems. First, the disturbance observer is used for the access to observe the composite disturbance and motion state of the manipulators. Then a slide mode control law is developed to improve the accuracy of the tracking trajectories. Notably, sufficient conditions are derived to guarantee asymptotical convergency of the developed control law. Finally, the numerical simulations are conducted to verify the effectiveness of the present control scheme.