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.
双连杆柔性臂自适应二阶滑模控制
[J]. 吉林化工学院学报, 2024, 41(7): 39-46.
CHEN senlin, HAN Guangxin, WANG jiawei.
Adaptive Second-order Sliding Mode Control of Dual-Link
Flexible Manipulator System
. Journal of Jilin Institute of Chemical Technology, 2024, 41(7): 39-46.
