A fast terminal sliding mode control of two-link flexible manipulators for trajectory tracking

Abstract

In this paper, the dynamic model of the two-link flexible manipulator with payload is analyzed using Euler-Lagrange equation. And then, a fast nonsingular terminal sliding mode controller is proposed for trajectory tracking problem of the manipulator. The stability of the control system is proved by the Lyapunov theory. Finally, simulation experiments were carried out in MATLAB and the results illustrate that the prosed fast nonsingular terminal sliding mode control method shows good effectiveness and robustness in presence of bounded disturbances.