Synthesis of sliding mode control for flexible-joint manipulators based on serial invariant manifolds

This paper focuses on synthesizing sliding mode control (SMC) for flexible-joint manipulators (FJM) based serial invariant manifolds in order to increase the quality system. SMC is proposed. The law found synergetic theory (SCT) and analytical design of aggregated regulators (ADAR) method. In improve due effect stiffness value between two links system, a mechanism constructing built. time response outer loop close actuator will be larger next round. system can pre-evaluated through parameters designed manifolds. Global stability demonstrated by using Lyapunov function process. Finally, effectiveness proposed controller SCT numerical simulation results compared with traditional SMC.