Fuzzy nonsingular terminal sliding mode control for rigid flexible manipulator

Abstract In order to solve the precise position control problem of a rigid and flexible manipulator with underactuated variables, the controller of the rigid and flexible manipulator was designed based on the fuzzy nonsingular terminal slip control strategy combined with state feedback. The simulati...

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Bibliographic Details
Published inJournal of physics. Conference series Vol. 1952; no. 3; pp. 32013 - 32021
Main Authors Xu, Lisha, Qian, Xiaoshan, Lin, Chong
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 01.06.2021
Subjects
Control methods
Feedback linearizationl
Flexible manipulators
Fuzzy control
Non-singular terminal sliding mode control
rigid flexible manipulator
Robot arms
Sliding mode control
State feedback
Vibration
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Summary:Abstract In order to solve the precise position control problem of a rigid and flexible manipulator with underactuated variables, the controller of the rigid and flexible manipulator was designed based on the fuzzy nonsingular terminal slip control strategy combined with state feedback. The simulation results show that, compared with the existing basic sliding mode position control methods, the proposed control method has less overshoot, less adjustment time, less input torque jitter, less maximum amplitude of end vibration and less error of end position, which can effectively improve the control quality of the rigid flexible manipulator in the working process.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/1952/3/032013