A model of a flexible manipulator is developed with considering the geometrical nonlinearity and the effect of gravity. The model can be divided into a flexible dynamic subsystem and a rigid dynamic subsystem, and a decomposed dynamic control (DDC) including flexible dynamic control and rigid dynamic control is proposed for a controller design of the flexible manipulator. The flexible dynamic control has been investigated for a desired trajectory using an optimization, and the optimization is valid method to deal with nonlinear problems but dependent on the accuracy of models. There are errors in models and other factors causing disturbances inevitably, so that the rigid dynamic control is expected with enough robustness to overcome the uncertain problem. In this paper, the proposed controller does not only track the desired trajectory, but also further suppresses the residual vibration to improve performance of control. A hybrid sliding mode control (HySMC) is proposed to track the desired trajectory and provide a compensator for further vibration suppression. This paper mainly presents the theoretical design and experimental verification of the proposed controller.
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