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The uncertainties, such as the unmodeled dynamics and random external disturbance, make the robustness of the trajectory tracking control a challenge that cannot be ignored, especially for the position-based impedance control. Therefore, first the dynamic model with the lumped disturbance of the DDPM in joint space is established. Then, the NDO and the DHSMC in joint space are designed to realize trajectory tracking and improve the robustness, where the double hyperbolic reaching law is used to reduce the chattering problem. The stability of the end effector is proofed using the proposed control protocol. Finally, the NDO-based DHSMC is utilized as the position controller in the force tracking of the end effector. Through quantitative simulation analysis, the root mean square error of DHSMC is 90% lower than that of constant rate and exponential rate sliding mode controller under lumped disturbance.<\/jats:p>","DOI":"10.1177\/01423312241307087","type":"journal-article","created":{"date-parts":[[2025,3,26]],"date-time":"2025-03-26T17:59:34Z","timestamp":1743011974000},"page":"1468-1479","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Nonlinear disturbance observer\u2013based sliding mode control for double-driven parallel mechanism grinding"],"prefix":"10.1177","volume":"48","author":[{"given":"Yiran","family":"Cao","sequence":"first","affiliation":[{"name":"College of Aeronautical Engineering, Civil Aviation University of China, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3868-0139","authenticated-orcid":false,"given":"Linda","family":"Jia","sequence":"additional","affiliation":[{"name":"College of Aeronautical Engineering, Civil Aviation University of China, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mengli","family":"Wu","sequence":"additional","affiliation":[{"name":"College of Aeronautical Engineering, Civil Aviation University of China, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xuhao","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Aeronautical Engineering, Civil Aviation University of China, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dezuo","family":"Li","sequence":"additional","affiliation":[{"name":"College of Aeronautical Engineering, Civil Aviation University of China, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Binglin","family":"Li","sequence":"additional","affiliation":[{"name":"College of Aeronautical Engineering, Civil Aviation University of China, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhiyong","family":"Guo","sequence":"additional","affiliation":[{"name":"College of Aeronautical Engineering, Civil Aviation University of China, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zefu","family":"Liu","sequence":"additional","affiliation":[{"name":"College of Aeronautical Engineering, Civil Aviation University of China, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2025,3,26]]},"reference":[{"key":"e_1_3_2_2_1","doi-asserted-by":"publisher","DOI":"10.1177\/01423312241228921"},{"key":"e_1_3_2_3_1","doi-asserted-by":"publisher","DOI":"10.1002\/oca.2367"},{"key":"e_1_3_2_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2022.105158"},{"key":"e_1_3_2_5_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-023-0640-1"},{"key":"e_1_3_2_6_1","doi-asserted-by":"publisher","DOI":"10.22190\/FUME210728067G"},{"key":"e_1_3_2_7_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-023-08701-6"},{"issue":"10","key":"e_1_3_2_8_1","first-page":"1","article-title":"Sliding mode control of servo feed system based on fuzzy reaching law","volume":"13","author":"Huang C","year":"2023","unstructured":"Huang C, Wang T, Li M, et al. 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