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Adaptive sliding mode control for two-link flexible manipulators with H/sub /spl infin// tracking performance

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4 Author(s)
You-An Zhang ; Dept. of Autom. Control, NAEI, Yantai, China ; Yu-Lin Mi ; Ming Zhu ; Feng-Lin Lu

A composite controller is designed based on singular perturbation model of two-link flexible manipulators with external disturbances and parameter uncertainties, where a new adaptive sliding mode controller with H tracking performance is designed for the slow subsystem, the adaptive algorithm is used to estimate the perturbation part of system parameters, and an optimal controller is designed to stabilize the fast subsystem. Numerical simulation results confirm that the proposed controller can not only attenuate effectively the effect of system uncertainties on tracking error, but also can reduce significantly chattering inherent in conventional sliding mode control. Also, tip vibration can be suppressed effectively.

Published in:

2005 International Conference on Machine Learning and Cybernetics  (Volume:2 )

Date of Conference:

18-21 Aug. 2005