Design of robust controllers and a nonlinear observer for the control of a single-link flexible robotic manipulator

摘要

Two robust nonlinear controllers along with a nonlinear observer have been developed in this study to control the rigid and flexible motions of a single-link robotic manipulator. The controllers and the observer have been designed based on a simplified model of the arm, which only accounts for the first elastic mode of the beam. The controllers consist of a conventional sliding mode controller (CSMC) and a fuzzy-sliding mode controller (FSMC). Moreover, the robust nonlinear observer has been designed based on the sliding mode methodology.