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Adaptive control for a single flexible link manipulator using sliding mode technique

In this paper, two nonlinear controllers for a single flexible link manipulator are presented. These controllers are derived using sliding mode technique. The first controller presented in this paper is a generalization of the computed torque which is used in conventional rigid robot control. In this method, we have assumed that the model parameters of the planar single flexible manipulator are perfectly known. In the second method, an adaptive version of the nonlinear control law has been proposed. By using the well-known Lyapunov theory, the asymptotical stability of the closed-loop system has been guaranteed. To show the contribution of these methods and their capability to vibration suppression, a comparison with a PD controller is presented.