Modeling and dual loop sliding mode control of a two flexible-link robot to reduce the transient response

In many applications, the use of slender and light flexible structures has increased due to the requirement of more efficient structures. One objective of this work is to generate a model of a two-flexible-link robot for control purposes, which includes rotational actuator, piezoelectric actuators, different kind of sensors (acceleration and deformation). The model is obtained under a classical mechanics approach: Lagrange Euler energy balance. The model of the actuators is also included. Some parts of the resulting model are calculated using symbolic programming software, where as other are implemented and calculated dynamically during simulation. The resulting model is simulated in Matlab Simulink. The second objective is to develop active vibration sliding mode controllers (AVSMC) which include observers to get an estimation of the rate of change flexible variable. The boundary values required for the implementation of the AVSMC's are obtained from the formulated model. Experimental results show the effectiveness of the proposed controller.