Second Order Sliding Mode Control for Single Link Flexible Manipulator
نویسندگان
چکیده
This paper presents a second order sliding mode control (SOSMC) for a single link flexible manipulator, which represents a class of under actuated systems. A second order super twisting algorithm (STA) is used to provide better positional accuracy and robustness against parametric variation and external disturbances with alleviation in chattering. A smooth control is synthesized using STA to exploit the robustness properties of sliding-mode controllers to ensure finite time convergence of the states. The flexible manipulator is actuated by a DC motor and the flexibility of the link is modeled as a linear torsional spring with stiffness. Comprehensive comparison between sliding mode control (SMC) and SOSMC is done in this study to show the effectiveness of the proposed strategy.
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