Second-Order Non-Singular Terminal Sliding Mode Optimal Control Of Uncertain Flexible Manipulator

2018 IEEE 8TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER)(2018)

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摘要
For a two-link flexible manipulator with uncertainty, this paper presents a optimal control approach by using second-order nonsingular terminal sliding mode(NTSM). Aiming at its non-minimum characteristic, the output redefinition technology is firstly utilized. Then a two-layer sliding surface is designed with purpose of adding the relative degree of the system, and further eliminating the headache chattering problem. Moreover, genetic algorithm is combined for the stability of zero-dynamic subsystem for better design parameters of second-order NTSM. Simulations are provided to verify the effectiveness of the proposed method.
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关键词
uncertain flexible manipulator,two-link flexible manipulator,optimal control approach,nonminimum characteristic,output redefinition technology,headache chattering problem,design parameters,second-order NTSM,two-layer sliding surface design,second-order nonsingular terminal sliding mode optimal control,genetic algorithm,zero-dynamic subsystem stability
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