Trajectory control of two axis SCARA robot by sliding mode control with observer

It is commonly believed that the suppression of the chattering of the sliding mode control can be achieved only via high sampling frequency of the digital controller. However, the authors propose a novel method of sliding mode control combined with an observer, which results in less chattering with a relatively slow sampling frequency. This approach is applied to the trajectory control of a two-axis SCARA (selective compliance assembly robot arm) robot