Implementation of second order sliding mode disturbance observer for a one‑link flexible manipulator using Dspace Ds1104

摘要

In this paper, a second-order sliding mode (SOSM) disturbance observer will be designed and implemented for a single link manipulator using Ds1104. The target system model is derived via the expression of the Lagrange equations of movement based on an energy approach. The flexible link is a clamped-free Euler–Bernoulli beam, and the assumed modes method is used to approximate the elastic movement. The proposed observer is meant to estimate the single-link flexible manipulator state, and the equivalent output injection method is applied to reconstruct the determinist unknown time varying disturbance. To appraise the performance of the proposed strategy, the observer is implemented using dSPACE DS1104 Controller board Real-Time Interface (RTI) running under MATLAB/Simulink software and ControlDesk 4.2 graphical interface. The illustrated results, either of the simulation or the experimental setting up, show that the proposed strategy provides finite time and robust estimation of single link nonlinear flexible manipulator state. Furthermore, the observer gives with accuracy the reconstruction of external perturbation.