Control of elastic multi-link manipulators based on the dynamic compensation method

The paper is concerned with the development of the sliding mode control for a multi-link flexible manipulator based on the pole assignment approach. The problem of chattering taking place in the system with switching control is solved by the introduction of components of the dynamic compensator state vector into the sliding surfaces. The motion separation method is used for the reconstruction of state vector by the methods of asymptotical and dynamic compensation.