Hierarchical sliding mode control applied to a single-link flexible joint robot manipulator

• Published in: International Conference on Advanced Mechatronic Systems pp. 476 - 481
• Main Authors: Rsetam, Kamal, Zhenwei Cao, Zhihong Man
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.11.2016
• Subjects: copuling; flexible-joint robot; hierachical sliding mode controller; Lyapunov stability theory; Manipulator dynamics; Mathematical model; Service robots; Sliding mode control; under-actuated systems
• ISSN: 2325-0690
• DOI: 10.1109/ICAMechS.2016.7813495

Trajectory tracking and vibration suppression are essential objectives in a flexible joint manipulator control. The flexible joint manipulator is an under-actuated system, in which the number of control actions is less than the degree of freedom to be controlled. It is very challenging to control the under-actuated nonlinear system with two degree of freedom. This paper presents a hierarchical sliding mode control (HSMC) for a rotary flexible joint manipulator (RFJM). Firstly, the rotary flexible joint manipulator is modeled by two subsystems. Secondly, the sliding surfaces for both subsystems are constructed. Finally, the control action is designed based on the Lyapunov function. Computer simulation results demonstrate the effectiveness of the proposed control. The comparative study shows the proposed method has superior performance than the conventional sliding mode control by achieving the controlled objectives such as a satisfactory tracking performance and an acceptable vibration reduction for the single link flexible joint robot manipulator.