Non-singular terminal sliding mode control algorithm design based on extended state observer
摘要
This research takes the optical mirror polishing robot as the research object. The optical mirror polishing robot receives complex forces during the grinding process. Operational accuracy can be affected by gravity and movement of the parallel manipulator. In addition, the parallel manipulator is a nonlinear system with more variables, more parameters, and strong coupling. Therefore, trajectory tracking control of the parallel manipulator is analyzed and studied. The extended state observer based sliding mode control method is used for trajectory tracking control, and the non-singular terminal sliding surface is designed. The extended state observer not only realizes high-precision trajectory tracking control, but also ensures the rapid response performance of the system.