Design of Robust Controller for 2-DOF Flexible Link Robot Manipulator

This paper proposes a practical and efficient control scheme for serial link flexible robot arm using the sliding mode control, reaching phase elimination and uncertainty disturbance estimation techniques to ensure robustness against any sort of uncertainty, disturbance or variation in parameter that may arise while in operation. The controllers for SMC, Reaching phase elimination and Uncertainty disturbance estimator are designed and implemented in MATLAB. The control algorithm performs as per the requirements and constraints placed on the system to drive the error in the states to zero with minimum expenditure of actuator dynamics and maintain the states once at the level. The system uses multiple techniques in conjunction with each other to guarantee optimal performance of the system for multiple scenarios. Further, the dynamic sliding and Uncertainty Disturbance Estimator techniques are being implemented for the 2-DOF flexible link robot arm for the first time.