On the Optimized Continuous Nonsingular Terminal Sliding Mode Control of Flexible Manipulators

This paper investigates the stability control of a class of two-link flexible manipulators subject to non-minimum phase problem and complex dynamics and thus a optimized continuous nonsingular terminal sliding mode (NTSM) control scheme is proposed. Through system decomposition into two subsystems by output redefinition, i.e. an input-output subsystem and a zero dynamic subsystem, the problem of non-minimum phase can be solved. A novel continuous NTSM controller on the basis of relative degree and a genetic algorithm is designed separately to guarantee the subsystems' convergence and stability, as well as to eliminate the undesired high-frequency chattering effect of input torques. Simulation results are presented to valid the proposed scheme.