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High tracking accuracy and strong anti-interference ability are required to trajectory tracking control of machining robot during processing. In view of the above characteristics, this paper proposes a compensation sliding mode control (CSMC) based on nonlinear disturbance observer (NBO-CSMC) for MRM. First, we deduced the dynamic model of MRM considering the uncertainties and disturbances. Then, for improving the trajectory tracking accuracy, a compensation sliding mode controller is designed based on the traditional sliding mode control (TSMC) strategy. Finally, in order to reduce the chattering in sliding mode control, the NBO-CSMC is designed for MRM, NBO is used to estimate the external composite uncertain interference existing in the system, and compensate the system control input in real time. The Lyapunov\u2019s theory proved the stability of the proposed algorithm, and simulation experiments verified the effectiveness of the proposed control strategy.<\/jats:p>","DOI":"10.1177\/01423312221083771","type":"journal-article","created":{"date-parts":[[2022,3,19]],"date-time":"2022-03-19T00:41:34Z","timestamp":1647650494000},"page":"2336-2349","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":21,"title":["A compensation sliding mode control for machining robotic manipulators based on nonlinear disturbance observer"],"prefix":"10.1177","volume":"44","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1579-9954","authenticated-orcid":false,"given":"Fangchen","family":"Yin","sequence":"first","affiliation":[{"name":"Institute of Manufacturing Engineering, Huaqiao University, China"},{"name":"National & Local Joint Engineering Research Centre for Intelligent Manufacturing Technology of Brittle Material Products, 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