SLIDING-MODE ADAPTIVE CONTROL FOR FLEXIBLE-LINK MANIPULATORS USING A COMPOSITE DESIGN

摘要

ABSTRACT A robust adaptive control scheme for flexible link robotic manipulators is presented. The design is based on considering the flexible mechanical structure as a singular perturbed system, which allows us to assume the existence of slow (rigid) and fast (flexible) modes that separately can be controlled. The rigid dynamics are controlled by means of a robust sliding adaptive approach with well-established stability properties. The flexible dynamics can be controlled using H ∞ or optimal designs, which successfully handle the actual interaction between the slow and fast subsystems. This composite approach achieves good closed-loop tracking properties, both in simulation and experimental results on a laboratory-flexible arm.