Sliding Mode Boundary Control for a Planar Two-link Rigid-flexible Manipulator with Input Disturbances

• Published in: International journal of control, automation, and systems Vol. 18; no. 2; pp. 351 - 362
• Main Authors: Han, Fengming, Jia, Yingmin
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.02.2020; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Boundary conditions; Boundary control; Computer simulation; Control; Disturbances; Engineering; Feedback control; Flexible manipulators; Galerkin method; Mathematical models; Mechatronics; Nonlinear differential equations; Nonlinearity; Partial differential equations; Regular Papers; Robotics; Robust control; Sequences; Sliding mode control; Vibration control; 제어계측공학; rigid-flexible manipulator; nonlinear partial differential equation; Input disturbance; sliding mode control
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-019-0277-0

This paper investigates the robust control problem for a planar two-link rigid-flexible coupling manipulator, whose input torques are influenced by bounded disturbances. A nonlinear partial differential equation (PDE) model which only contains measurable states in the boundary conditions is developed and based on this model, and a sliding mode control (SMC) scheme is proposed to realize joint angles reaching desired value, flexible vibration suppression and anti-interference. To overcome the difficulties brought by the inherent nonlinearity of the PDE and controller, the existence and uniqueness of the solution for the closed-loop system are proven by the Galerkin approximation sequences. The numerical simulations demonstrate the validity and effectiveness of our control design.