SYNTHESIZED SLIDING MODE CONTROL OF A SINGLE-LINK FLEXIBLE ROBOT

摘要

This paper proposes a synthesized sliding mode controller with frequency shaping and terminal attractor for a single-link flexible robot. Frequency shaping is used to suppress the resonance modes while terminal attractor expedites the convergenceof the sliding mode nearby the equilibrium and reduces steady state error. The asymptotical stability of the synthesized sliding mode is proven by using Popov's Criterion. Numerical simulations confirm the effectiveness of the proposed method.