SUN, Bo ;LI, Xin ;GUO, Feng ;CHENG, Gang .
End-trajectory sliding mode control algorithm design of hybrid polishing robot based on nonlinear disturbance observer.
Articles in Press, [S.l.], v. 0, n.0, p. , september 2025.
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/sl/article/end-trajectory-sliding-mode-control-algorithm-design-of-hybrid-polishing-robot-based-on-nonlinear-disturbance-observer/>. Date accessed: 22 jan. 2026.
doi:http://dx.doi.org/.
Sun, B., Li, X., Guo, F., & Cheng, G.
(0).
End-trajectory sliding mode control algorithm design of hybrid polishing robot based on nonlinear disturbance observer.
Articles in Press, 0(0), .
doi:http://dx.doi.org/
@article{.,
author = {Bo Sun and Xin Li and Feng Guo and Gang Cheng},
title = {End-trajectory sliding mode control algorithm design of hybrid polishing robot based on nonlinear disturbance observer},
journal = {Articles in Press},
volume = {0},
number = {0},
year = {0},
keywords = {hybrid polishing robot; dynamical model; sliding mode control; disturbance observer; trajectory tracking control; },
abstract = {The five Degree of Freedom (5-DOF) hybrid polishing robot is utilized for machining large optical mirrors. Since the existing kinematics control strategy does not meet high-precision control requirements, it is necessary to develop a dynamics controller to improve the operational performance of the robot. To enhance the trajectory control accuracy of the polishing robot's end-effector, a sliding mode control algorithm based on a nonlinear disturbance observer is proposed. First, the dynamic model, which accounts for joint friction effects, is derived using the Newton-Euler method, and a complete explicit dynamic model is established through parameter substitution. Subsequently, considering the influence of the coupling of inertia parameters of each component in the dynamic model on computational efficiency, the model is simplified while compensating for errors caused by neglected terms via the Whale Optimisation Algorithm Elman (WOA-Elman) algorithm to reconstruct the dynamic model with error compensation terms. Finally, based on an analysis of the reaching law and the design of the nonlinear disturbance observer, the end-effector trajectory sliding mode control algorithm is developed. Simulation and experimental results indicate that the inclusion of an improved reaching term effectively reduces system chattering. Furthermore, the nonlinear disturbance observer is employed to estimate system errors and external disturbances, significantly mitigating error fluctuations during the convergence process and thus validating the robustness and high precision of the trajectory tracking control system for the polishing robot.},
issn = {0039-2480}, pages = {}, doi = {},
url = {https://www.sv-jme.eu/sl/article/end-trajectory-sliding-mode-control-algorithm-design-of-hybrid-polishing-robot-based-on-nonlinear-disturbance-observer/}
}
Sun, B.,Li, X.,Guo, F.,Cheng, G.
0 September 0. End-trajectory sliding mode control algorithm design of hybrid polishing robot based on nonlinear disturbance observer. Articles in Press. [Online] 0:0
%A Sun, Bo
%A Li, Xin
%A Guo, Feng
%A Cheng, Gang
%D 0
%T End-trajectory sliding mode control algorithm design of hybrid polishing robot based on nonlinear disturbance observer
%B 0
%9 hybrid polishing robot; dynamical model; sliding mode control; disturbance observer; trajectory tracking control;
%! End-trajectory sliding mode control algorithm design of hybrid polishing robot based on nonlinear disturbance observer
%K hybrid polishing robot; dynamical model; sliding mode control; disturbance observer; trajectory tracking control;
%X The five Degree of Freedom (5-DOF) hybrid polishing robot is utilized for machining large optical mirrors. Since the existing kinematics control strategy does not meet high-precision control requirements, it is necessary to develop a dynamics controller to improve the operational performance of the robot. To enhance the trajectory control accuracy of the polishing robot's end-effector, a sliding mode control algorithm based on a nonlinear disturbance observer is proposed. First, the dynamic model, which accounts for joint friction effects, is derived using the Newton-Euler method, and a complete explicit dynamic model is established through parameter substitution. Subsequently, considering the influence of the coupling of inertia parameters of each component in the dynamic model on computational efficiency, the model is simplified while compensating for errors caused by neglected terms via the Whale Optimisation Algorithm Elman (WOA-Elman) algorithm to reconstruct the dynamic model with error compensation terms. Finally, based on an analysis of the reaching law and the design of the nonlinear disturbance observer, the end-effector trajectory sliding mode control algorithm is developed. Simulation and experimental results indicate that the inclusion of an improved reaching term effectively reduces system chattering. Furthermore, the nonlinear disturbance observer is employed to estimate system errors and external disturbances, significantly mitigating error fluctuations during the convergence process and thus validating the robustness and high precision of the trajectory tracking control system for the polishing robot.
%U https://www.sv-jme.eu/sl/article/end-trajectory-sliding-mode-control-algorithm-design-of-hybrid-polishing-robot-based-on-nonlinear-disturbance-observer/
%0 Journal Article
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%&
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%J Articles in Press
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%N 0
%@ 0039-2480
%8 2025-09-29
%7 2025-09-29
Sun, Bo, Xin Li, Feng Guo, & Gang Cheng.
"End-trajectory sliding mode control algorithm design of hybrid polishing robot based on nonlinear disturbance observer." Articles in Press [Online], 0.0 (0): . Web. 22 Jan. 2026
TY - JOUR
AU - Sun, Bo
AU - Li, Xin
AU - Guo, Feng
AU - Cheng, Gang
PY - 0
TI - End-trajectory sliding mode control algorithm design of hybrid polishing robot based on nonlinear disturbance observer
JF - Articles in Press
DO -
KW - hybrid polishing robot; dynamical model; sliding mode control; disturbance observer; trajectory tracking control;
N2 - The five Degree of Freedom (5-DOF) hybrid polishing robot is utilized for machining large optical mirrors. Since the existing kinematics control strategy does not meet high-precision control requirements, it is necessary to develop a dynamics controller to improve the operational performance of the robot. To enhance the trajectory control accuracy of the polishing robot's end-effector, a sliding mode control algorithm based on a nonlinear disturbance observer is proposed. First, the dynamic model, which accounts for joint friction effects, is derived using the Newton-Euler method, and a complete explicit dynamic model is established through parameter substitution. Subsequently, considering the influence of the coupling of inertia parameters of each component in the dynamic model on computational efficiency, the model is simplified while compensating for errors caused by neglected terms via the Whale Optimisation Algorithm Elman (WOA-Elman) algorithm to reconstruct the dynamic model with error compensation terms. Finally, based on an analysis of the reaching law and the design of the nonlinear disturbance observer, the end-effector trajectory sliding mode control algorithm is developed. Simulation and experimental results indicate that the inclusion of an improved reaching term effectively reduces system chattering. Furthermore, the nonlinear disturbance observer is employed to estimate system errors and external disturbances, significantly mitigating error fluctuations during the convergence process and thus validating the robustness and high precision of the trajectory tracking control system for the polishing robot.
UR - https://www.sv-jme.eu/sl/article/end-trajectory-sliding-mode-control-algorithm-design-of-hybrid-polishing-robot-based-on-nonlinear-disturbance-observer/
@article{{}{.},
author = {Sun, B., Li, X., Guo, F., Cheng, G.},
title = {End-trajectory sliding mode control algorithm design of hybrid polishing robot based on nonlinear disturbance observer},
journal = {Articles in Press},
volume = {0},
number = {0},
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TY - JOUR
AU - Sun, Bo
AU - Li, Xin
AU - Guo, Feng
AU - Cheng, Gang
PY - 2025/09/29
TI - End-trajectory sliding mode control algorithm design of hybrid polishing robot based on nonlinear disturbance observer
JF - Articles in Press; Vol 0, No 0 (0): Articles in Press
DO -
KW - hybrid polishing robot, dynamical model, sliding mode control, disturbance observer, trajectory tracking control,
N2 - The five Degree of Freedom (5-DOF) hybrid polishing robot is utilized for machining large optical mirrors. Since the existing kinematics control strategy does not meet high-precision control requirements, it is necessary to develop a dynamics controller to improve the operational performance of the robot. To enhance the trajectory control accuracy of the polishing robot's end-effector, a sliding mode control algorithm based on a nonlinear disturbance observer is proposed. First, the dynamic model, which accounts for joint friction effects, is derived using the Newton-Euler method, and a complete explicit dynamic model is established through parameter substitution. Subsequently, considering the influence of the coupling of inertia parameters of each component in the dynamic model on computational efficiency, the model is simplified while compensating for errors caused by neglected terms via the Whale Optimisation Algorithm Elman (WOA-Elman) algorithm to reconstruct the dynamic model with error compensation terms. Finally, based on an analysis of the reaching law and the design of the nonlinear disturbance observer, the end-effector trajectory sliding mode control algorithm is developed. Simulation and experimental results indicate that the inclusion of an improved reaching term effectively reduces system chattering. Furthermore, the nonlinear disturbance observer is employed to estimate system errors and external disturbances, significantly mitigating error fluctuations during the convergence process and thus validating the robustness and high precision of the trajectory tracking control system for the polishing robot.
UR - https://www.sv-jme.eu/sl/article/end-trajectory-sliding-mode-control-algorithm-design-of-hybrid-polishing-robot-based-on-nonlinear-disturbance-observer/
Sun, Bo, Li, Xin, Guo, Feng, AND Cheng, Gang.
"End-trajectory sliding mode control algorithm design of hybrid polishing robot based on nonlinear disturbance observer" Articles in Press [Online], Volume 0 Number 0 (29 September 2025)
