Adaptive Second-order Sliding Mode Control of Dual-Link Flexible Manipulator System
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 was designed.The dynamic equation of the two-link flexible manipulator was given according to lagrange equation and energy conservation law,and a sliding mode observer was designed.Then based on the error state equation an adaptive second-order sliding mode control law was designed,in which the super-twisting algorithm was used to suppress chattering,and the stability of the closed-loopsystem was proved by Lyapunov theory.Simulation results showed that the proposed control strategy has the advantages of high tracking accuracy,less chattering and better robustness.
two-link flexible manipulatoradaptivesecond order slidingsuper twist algorithm
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