Backstepping Sliding Mode Force/Position Control for Constrained Reconfigurable Manipulator Based on Extended State Observer

In this paper, a force/position control method is proposed for constrained reconfigurable manipulators based on extended state observer (ESO). First, the reduced-order dynamic model of the reconfigurable manipulator is formulated in the presence of the external constraint. Second, a backstepping sliding mode force/position controller is designed with extended state observer, which is used to estimate the overall model uncertainty, and the desired position and force can be tracked accurately. The stability of the system is proved by using the Lyapunov theory. Finally, simulations are performed by using the two Dofs of reconfigurable manipulators with different configurations to illustrate the effectiveness of the proposed method.