Sliding mode control of single link flexible manipulator

Abstract

Flexible manipulators possess a lot of advantages over their traditional rigid link counterparts, like less weight, less power input, higher speed of response etc. But efficient control methods are required to control such a system. The strategy adopted here is to control the manipulator using the nonlinear model till the required terminal joint angle is reached. In the vicinity of the terminal joint angle both the nonlinear and the linearized model are used. Use of the nonlinear model ensures tracking and linear model damps the vibrations. Variable structure control in sliding mode has been used for both the models. This technique has been applied to a single link flexible manipulator.