Adaptive sliding mode control for two-link flexible manipulators with H∞ tracking performance

A composite controller is designed based on singular perturbation model of two-link flexible manipulators with external disturbances and parameters uncertainties, where a new adaptive sliding mode controller with Hoc tracking performance is designed for the slow subsystem, the adaptive algorithm is used to estimate the perturbation part of system parameters, and an optimal controller is designed to stabilize the fast subsystem., Numerical simulation results confirm that the proposed controller can not only attenuate effectively the effect of system uncertainties on tracking error, but also can reduce significantly chattering inherent in conventional sliding mode control. Also, tip vibration can be suppressed effectively.