Dynamics and Terminal Sliding Mode Control of Two-Link Flexible Manipulators with Noncollocated Feedback

This paper presents a dynamic model and a class of terminal sliding mode control (TSMC) for two-link flexible manipulators with noncollocated feedback. With the assumed mode method, the closed form dynamic model of two-link flexible manipulators is derived by using the Lagrangian approach. The TSMC technique is used to design the controller. The mode coordinate vectors of flexible manipulators are computed by noncollocated feedback. The proposed TSMC guarantees that the output tracking error converges to zero in finite time under external disturbance. Numerical simulation results of two-link flexible manipulators are provided to verify the effectiveness of the proposed control scheme.