Sliding mode and adaptive sliding mode control approaches of two link flexible manipulator

Abstract

In this paper, two types of SMC (Sliding Mode Control) techniques with and without Adaptive control are used for controlling two-link flexible manipulator with uncertain parameters. Conventional and Quasi-SMC are two types of SMC used for trajectory tracking problem of flexible manipulator. With the use of Quasi-SMC chattering is eliminated in control input and in sliding surface, which is present in conventional SMC. Adaptive control is used for achieving the stability under uncertainties and varying parameters situation. Lyapunov stability is used for achieving the stability of sliding surface. MATLAB simulation result showed that the proposed control techniques are working satisfactorily.