Synthesized sliding mode control of a single-link flexible robot

This paper proposes a synthesized sliding mode controller using frequency s haping and terminal attractor methods for single-link r-mode flexible robot ic manipulators. The frequency shaping technique is used to suppress the in herent resonance modes of the flexible manipulator, while terminal attracto r is used to expedite the convergence of the sliding mode near the equilibr ium and to reduce steady state error. The asymptotical stability of the syn thesized sliding mode is proven by using Popov's criterion. Numerical simul ations confirm the effectiveness and robustness of the proposed sliding mod e controller.