Backstepping sliding mode decentralized control for reconfigurable manipulators based on ESO

Based on Extended State Observer(ESO) and Lyapunov stability theory, a backstepping sliding mode decentralized control algorithm for reconfigurable manipulators is proposed in this paper. The dynamics of reconfigurable manipulators is represented as a set of interconnected subsystems. The backstepping technology is used to design the sliding mode decentralized controller. ESO which is used to model the unknown dynamics of subsystem and the interconnection term can be constructed using the state estimations. Simulation examples are presented to illustrate the effectiveness of the proposed decentralized controller.