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Adaptive Second-order Sliding Mode Control of Dual-Link
Flexible Manipulator System
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| CHEN
senlin,HAN Guangxin*,WANG
jiawei
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| School
of Information and Control Engineering, Jilin Institute of Chemical Technology,
Jilin City 132022, China |
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Abstract In order to solve the problems
of chattering, low accuracy and uncertain parameters in the trajectory tracking
of two-link flexible manipulator, an observer-based adaptive second-order
sliding mode controller is designed. The dynamic equation of the two-link
flexible manipulator is given according to Lagrange equation and energy
conservation law, and a sliding mode observer is designed. Then, based on the
error state equation, an adaptive second-order sliding mode control law is
designed, in which the super-twisting algorithm is used to suppress chattering,
and the stability of the closed-loop system is proved by Lyapunov theory.
Simulation results show that the proposed control strategy has the advantages
of high tracking accuracy, less chattering and better robustness.
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Published: 25 July 2024
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