Oscillation elimination of tip regulation for a single-link flexible manipulator (Q2716793)

This very important paper deals with the dynamic model of a single-link flexible manipulator. Many existing variable structure control schemes for flexible manipulators use a conventional sliding surface, which is linear with respect to system states. In this paper, an integral-type sliding surface is proposed which obtains a full-order sliding motion, such that all the eigenvalues of the closed-loop dynamics can be assigned.NEWLINENEWLINENEWLINEMain result: The integral-type sliding surface is derived from a reference model which does not have any finite zero but all negative real poles. In order to force the system to follow the reference model in the presence of unstructured uncertainties, a variable structure controller is adopted. When in sliding mode, the system performs like the reference model. Hence, there will be no vibration and the tip position can be achieved when the system approaches steady-state. Finally, the authors illustrate by virtue of simulation results the effectiveness of the proposed approach.