Modeling and centralized sliding mode control of a two-flexible-link robot

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 an approximated model of a two flexible-link robot for control purposes, which includes rotational actuators, piezoelectric actuators, and different kinds 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 involving integral terms are calculated using symbolic programming software, whereas other parts are implemented and calculated dynamically during simulation. The model of the two flexible-link robot is simplified for the controller calculation. The resulting model is simulated in Matlab/Simulink. The second objective is to develop a MIMO joint tracking and active vibration sliding mode controller. The values required for the implementation of the controller are obtained from the formulated models. Experimental results show the effectiveness of the proposed controllers.