Robust control for a flexible-link manipulator using sliding mode techniques and nonlinear H/sub ∞/ control design methods

摘要

In this paper, two nonlinear robust controllers for a flexible-link manipulator are presented. These controllers are derived using both sliding mode techniques and nonlinear H/sub /spl infin// control methodologies. The effectiveness of the control law presented are shown by simulations and experiments carried out with the flexible robot arm, an experimental setup available in our Institute Laboratory. The problem of disturbances rejection and disturbances attenuation by handling plant uncertainties due to parameter deviations is addressed respectively in an appropriate way by two different robust control techniques and illustrated by the nonlinear plant under consideration.