The Design of Terminal Sliding Controller of Two-Link Flexible Manipulators

@article{Dongmei2007TheDO,
  title={The Design of Terminal Sliding Controller of Two-Link Flexible Manipulators},
  author={Wang Dongmei},
  journal={2007 IEEE International Conference on Control and Automation},
  year={2007},
  pages={733-737}
}
  • Wang Dongmei
  • Published 2007 in
    2007 IEEE International Conference on Control and…
A terminal sliding mode controller is proposed for a two-link flexible manipulator to address its non-minimum phase characteristics using the output redefinition method. The manipulator system is decomposed into two parts by input-output linearization, namely an input-output subsystem and the zero dynamics respectively. Then a terminal sliding mode control strategy is designed to make the input-output subsystem converge to zeros in finite time. The relationship between the eigenvalues of the… CONTINUE READING