Abstract: Manipulators are widely applied in aerospace, industrial manufacturing, and medical fields. Compared to rigid manipulators, Flexible manipulators offer greater flexibility. However, controlling flexible manipulators during motion is more challenging, and they exhibit larger elastic vibrations in their links. Addressing the difficulties of control and significant link vibrations inherent to flexible manipulators, this study focuses on Quanser’s rotary flexible link as the research object. A super-twisting global fast terminal sliding mode control algorithm is designed. This algorithm integrates super-twisting control with terminal sliding mode control, and employs an improved saturation function to mitigate chattering in the sliding mode control. Firstly, the dynamic model of the rotary flexible link is established using Lagrange's equations combined with the assumed mode method. Subsequently, a global fast tracking differentiator is designed to differentiate the system's reference input signal, and a global fast terminal sliding mode controller is developed for trajectory tracking. To enhance trajectory tracking accuracy and suppress elastic vibrations by the flexible link, the super-twisting algorithm is adopted to formulate the control law for the sliding mode switching control. Finally, the stability of the closed-loop system is proven using Lyapunov theory. Simulation experiments conducted on the Matlab platform demonstrate that the proposed super-twisting global fast terminal sliding mode control achieves higher tracking accuracy and induces smaller elastic vibrations in the link compared to other methods.
韩光信, 史玉松. 单连杆柔性臂的超螺旋全局快速终端滑模控制[J]. 吉林化工学院学报, 2025, 42(7): 36-45.
HAN Guangxin, SHI Yusong. Super-Twisting Global Fast Terminal Silding Control for A Single-Link Flexible Arm. Journal of Jilin Institute of Chemical Technology, 2025, 42(7): 36-45.
