Fuzzy nonsingular terminal sliding mode control for rigid flexible manipulator

Abstract In order to solve the precise position control problem of a rigid and flexible manipulator with underactuated variables, controller was designed based on fuzzy nonsingular terminal slip strategy combined state feedback. The simulation results show that, compared existing basic sliding mode methods, proposed method has less overshoot, adjustment time, input torque jitter, maximum amplitude end vibration error position, which can effectively improve quality in working process.