Control of Rotational Base Single Link Flexible Manipulator using Different SMC Techniques for Variable payloads

In this paper two types of sliding mode control (SMC): normal sliding mode control (normal-SMC) and Quasi sliding mode control (Quasi-SMC) are used in controlling single-link rotational base flexible manipulator for three different payloads. The dynamic equations of the system are done by using Lumped parameter method. Quasi-SMC is used for chattering elimination which is present in the case of normal-SMC. Lyapunov stability theory is used to achieve the stability of sliding surface. Since, SMC is insensitive to parameter uncertainties and disturbances within some bounds; it helps in tracking the desired trajectories and controlling the dynamics. Tip deflection and hub angle are controlled using SMC with payload variation of 0.0Kg, 0.1Kg, and 0.5Kg. To demonstrate the results, MATLAB simulations are used for the proposed control approaches.