The Composite Control for Single-Link Flexible Manipulator Using Dynamic Sliding Mode and Optimal Based on Dynamic Switching

Abstract

A composite controller is designed based on the singular perturbation model of single-link flexible manipulators. A dynamic sliding mode controller is designed for the slow subsystem, and optimal controller is designed to stabilize the fast subsystem. Numerical simulation results confirm that the proposed controller not only can perform fast and accurate tracking, but also can reduce the chattering of the sliding-mode control, and the proposed controller can suppress the tip vibration of the flexible manipulator effectively.