Disturbance Accommodating Sliding Mode Control

The sliding mode control and disturbance accommodating technique are combined to detect, identify, cancel modeling uncertainties and external noises. Both of these two control methods are based on the signal approach so they can be combined easily. Moreover, each one of methods compensates the other´s drawback. The simulation results of two link robot model show that the disturbance accommodating sliding mode control provides a good tracking performance for a wide range of variations.