Fuzzy sliding mode control for positioning flexible link manipulators

A novel joint control scheme with fuzzy adaptation is proposed for a two-link flexible manipulator with macro/micro drivers. A prototype of sliding mode control for joint angles positioning is synthesized on the basis of rigid dynamics, and it was modified by a fuzzy reasoning rule table established on joint errors and trends of sliding mode function’s entries. To prevent overshoot in plant response, the adjusting coefficient matrix was proposed. Simulations results conducted on the whole model show that the set point trajectory tracking is attainable and with negligible residual vibrations.