Abstract: Aiming at a class of nonlinear dynamic single joint manipulator system, which subject to disturbance, uncertainty and fault, an observer based sliding mode control (OBSMC) strategy, is proposed. First, the state of the system and disturbance are observed by a composite estimator, and the fault is reconstructed by introducing a sliding mode surface. Second, in accordance with the estimation information, the OBSMC scheme is designed. The sliding surface is constructed with good reaching ability, and the stability of the system is guaranteed simultaneously. In addition, the   performance is introduced to ensure the robustness of the system. Finally, the proposed method is applied to a class of flexible single joint manipulator system. The simulation results show that the observer has a high accuracy of the disturbance and fault signal, and the controller can guarantee the stability of the system, which illustrate the effectiveness of the proposed method.

Key words: Nonlinear system, manipulator control, observer design, integral sliding mode control (ISMC), robust control

摘要： 针对一类单关节非线性机械手系统控制过程中存在的干扰、模型不确定性以及可能的故障问题，提出一种基于观测器的积分滑模控制策略。该方法首先对系统状态及干扰进行有效观测，得到相应的观测信息，并通过引入滑模面对系统故障信号进行重构。其次，基于观测信息进行了控制器设计，在保证系统状态趋向滑模面的同时，对系统的稳定性进行了分析。此外，通过引入 性能指标，保证了系统的鲁棒性。最后，将该方法用在了一类柔性单关节机械手系统中。仿真结果表明，该方法能够有效观测系统干扰、故障信号，
控制器能够保证系统的稳定性，说明了控制策略的有效性。

关键词: 非线性系统, 机器手控制, 观测器设计, 积分滑模控制, 鲁棒控制