Table 3.
Key Parameter configuration of the disturbance compensation module.
| Parameter Category | Symbol | Value/Setting | Description |
|---|---|---|---|
| Sliding surface gain matrix | Λ (Lambda) | diag(4.2, 4.2, 5.0, 3.8) | Determines the convergence rate of the sliding variable |
| Reaching law coefficient | Κ (Kappa) | diag(1.5, 1.5, 2.0, 1.2) | Controls the amplitude of sliding motion chattering |
| Boundary layer thickness | Φ (Phi) | 0.05 | Threshold for smoothing function to suppress high-frequency vibration |
| Low-pass filter cutoff frequency | ωc | 15 rad/s | Filters out high-frequency noise from the observer |
| Feedforward compensation gain | Kff | diag(0.9, 0.9, 1.1, 0.7) | Mapping coefficient from disturbance estimates to compensation control inputs |
| Maximum disturbance estimation range | dmax | [3.0, 3.0, 4.0, 2.5]ᵀ | Saturation limits on disturbance amplitudes for each channel |