Based on Parameter Optimization and FLC Nonsingular Terminal Sliding Mode Controller of a Two-Link Flexible Manipulator

Abstract

The robotic system of a two-link flexible manipulator is decomposed into an input-output subsystem and a zero dynamics subsystem using the input-output linearization technique. A novel inverse dynamics nonsingular terminal sliding mode controller is designed to make the input-output subsystem converge to its equilibrium point in finite time. The parameters of the zero dynamic subsystem are optimized by a genetic algorithm so that the zero dynamics subsystem is asymptotically stable at equilibrium point and finally the whole original flexible manipulator system is guaranteed to be asymptotically stable. Additionally, in order to overcome the chattering, this paper adapts a fuzzy logic controller to realize the nonlinear switching function. Simulation results are presented to validate the design.