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Control for a two-link flexible manipulator based on the robust sliding-mode observer

Flexible manipulators system is a nonminimum-phase system. This characteristic hinders the asymptotic tracking of a desired tip trajectory with a bounded control input. The outputs of a a two-link flexible manipulator are redefined in dealing with this problem. First, the system is decomposed into input-output subsystem and zero dynamics systems by employing the input-output linearization, and then, a robust sliding mode observer is developed for generating the unmeasured derivative of the flexible modes. An integral sliding-mode control strategy is designed for the input-output subsystem to make them converge in a finite time. Moreover, the zero dynamics system can be asymptotically stable at the equilibrium point by properly adjusting controller parameters. Thus, the whole control system for the two-link flexible manipulator is guaranteed to be asymptotically stable. Furthermore, the control design procedure is simple and easy to be implemented. Simulation results validate the design.