Simultaneous positioning and non-minimum phase vibration suppression of slewing flexible-link manipulator using only joint actuator

摘要

This paper presents a new global terminal sliding mode control (GTSMC) methodology for the simultaneous positioning and vibration suppression of slewing a flexible-link manipulator. The proposed control scheme is realized using only a joint actuator without an extra actuator (for example, the widely used piezoelectric zirconate titanate), and the nonminimum phase vibration control problem is solved. Firstly, based on the differential geometry method, the initial dynamic system is decomposed into two subsystems, namely an input-output subsystem and a zero-dynamics subsystem. Secondly, a continuous GTSMC strategy without chattering phenomenon is designed for the input-output subsystem, and the limited convergence time is deduced. Moreover, the eigenvalues of the zero-dynamics subsystem can be pointed by setting proper controller parameters for Lyapunov asymptotical stability. Finally, simulation and experimental results demonstrated the efficacy and feasibility of the proposed control methodology.