A variable structure tracking controller for a flexible one-link robot

This paper outlines a new variable structure control scheme with two switching surfaces designed for the trajectory tracking of single link flexible manipulators. The tip position is split into rigid and flexural dynamics which are the constituents of the surfaces of the proposed controller. One surface is assigned to the rigid dynamics while the other to the flexural dynamics. Three switching mechanisms are used to generate the appropriate control signal, and their performances are compared.