Vibration Suppression of Flexible Parallel Manipulator Based on Sliding Mode Control with Reaching Law

Abstract

A discrete sliding mode control based on reaching law is investigated to suppress vibration of high-speed flexible manipulator. The finite element method and experimental modal test is applied to obtain the dynamic model of the system. Due to the influence from uncertain external disturbances and measurement noise, and uncertain parameters, sliding mode control has invariance of the sliding mode. The discrete sliding mode control approach with reaching law is applied to design the vibration controller which enables the system to be zero state as the system states are away from the equilibrium one due to external disturbances. The discrete Kalman filtering technique is employed to construct state estimator because the state variables cannot be directly measured. The first three natural frequencies and damping ratio are obtained by using experimental modal testing. The experimental control system is constructed and experimental validation is carried out using dSPACE real-time simulation system and MATLAB/Simulink. The experimental results showed that the proposed controller can effectively suppress the vibration response of the flexible manipulator.