Neuro-Sliding Mode Endpoint Control of Flexible-link Manipulators
ZHANG Yu1, YANG Tang-wen2, SUN Zeng-qi1
1. State Key Laboratory of Intelligent Technology and Systems, Tsinghua National Laboratory for Information Science and Technology, Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China; 2. School of Computer and Information Technology, Beijing Jiaotong University, Beijing 100044, China
Abstract：To improve the robustness and position precision of endpoint control of flexible-link manipulators(FLMs), a control strategy based on neuro-sliding mode(NSM)is proposed.Firstly,the dynamics model is partially linearized by input-output linearization method,so it is separated into two subsystems of input-output subsystem and internal dynamics subsystem.An NSM controller is designed to control the input-output subsystem while a states feedback controller is employed to stabilize the internal dynamics subsystem.Then,stability of the internal dynamics is analyzed,and satisfactory results are obtained in the simulation of controlling a 2DOF FLM.The results indicate that the presented method improves the robustness and position precision of the FLM system when model uncertainty is considered.
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