Journal of Beijing University of Posts and Telecommunications

  • EI核心期刊

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2013, Vol. 36 ›› Issue (4): 50-54.doi: 10.13190/jbupt.201304.46.048

• Papers • Previous Articles     Next Articles

The Composite Control of Dynamic Switching Sliding Mode and Optimal of One-Link Flexible Manipulators

JIA Qing-xuan, DENG Xia, CHU Ming, HUANG Fei-jie   

  1. Automation School, Beijing University of Posts and Telecommunications, Beijing 100876, China
  • Received:2013-09-26 Online:2013-08-31 Published:2013-05-22

Abstract:

A composite controller is designed based on the singular perturbation model of one-link flexible manipulators. A dynamic sliding mode controller is designed for the slow subsystem, and optimal controller is designed to stabilize the fast subsystem. Numerical simulation results confirm that the proposed controller not only can perform fast and accurate tracking, but also can reduce the chattering of the sliding-mode control, and the proposed controller can suppress the tip vibration of the flexible manipulators effectively.

Key words: flexible manipulators, singular perturbation, dynamic sliding mode control, optimal control

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