Joint Trajectory Tracking of Two- link Flexible Manipulator in Presence of Matched Uncertainty

Abstract

Design of a controller for joint trajectory tracking for two-link flexible manipulator (TLFM) in presence of vibration, model uncertainty and external disturbance is a challenging task. To deal with these problems, in this work Sliding Mode Controller (SMC) has been designed. Equivalent viscous damping coefficient (EVDC) has been considered as model uncertainty. Mathematical model of TLFM has been derived using Lumped parameter method. Closed loop stability of the system has been verified using Lyapunov method. EVDC has been varied to show the robustness of the designed controller. Simulation results show that, the tracking performance of the designed controller is satisfactory and better than Proportional Derivative Controller (PDC).