Disturbance-Resistant Velocity Regulation of Robotic Joint Module via a Novel Parameter-Minimized Adaptive Sliding Mode Control

Enhancing joint control performance under variable load conditions is critical for robotic drive systems. This paper develops a robotic joint module with a driver control system based on the STM32 microcontroller. A novel parameter-minimized sliding mode reaching law (NPMSMRL) is proposed to improve system response and suppress chattering. An adaptive Proportional-Integral-Derivative (APID) sliding surface reduces reliance on large switching gains and segmented power terms, enabling faster transient response and stronger state coupling. An improved sliding mode disturbance observer (ISMDO) provides real-time estimation of internal and external disturbances, intrinsically coupling disturbance compensation with the sliding mode control law to maintain robust performance under mapping errors or dynamic delays. Finally, a novel parameter-minimized adaptive sliding mode control (NPMASMC) strategy integrates NPMSMRL, ISMDO, and APID, simplifying controller tuning and enhancing practical applicability. Experimental results show that the proposed scheme optimally balances rapid dynamic response with effective disturbance and overshoot suppression for robotic joint modules.