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A novel combined control of flexible single-link manipulator based on singularly perturbed theory

Qixin Zhu (School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, China)
Wenxin Sun (School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, China)
Yehu Shen (School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, China)
Guizhong Fu (School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, China)
Yong Yang (School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou, China)
Jinbin Li (College of Mechanical and Electrical Engineering, Shihezi University, Shihezi, China)

Robotic Intelligence and Automation

ISSN: 2754-6969

Article publication date: 17 September 2024

Issue publication date: 18 November 2024

55

Abstract

Purpose

This study aims to improve the control accuracy and antidisturbance performance of the manipulator with the flexible link, a combined controller, which combines the novel backstepping sliding mode controller based on the extended state observer (ESO) and super-twisting sliding mode controller.

Design/methodology/approach

First, the dynamic of the system is constructed by Lagrange method and assumed mode method, and then the dynamic is decoupled by the singular perturbation theory to obtain the slow-varying subsystem and fast-varying subsystem. For the slow-varying subsystem, the novel backstepping sliding mode controller based on ESO is used to achieve joint tracking. For the fast-varying subsystem, the super-twisting sliding mode controller is used for vibration suppression. At the same time, to suppress chattering, the tanh function is used to replace the sign function in the reaching law.

Findings

The simulation results show that the combined control has better trajectory tracking performance, antiinterference performance and vibration suppression performance than traditional sliding mode control (SMC).

Originality/value

A novel backstepping sliding mode controller based on ESO is designed to guarantee the performance of the tracking trajectory. The new controller improves the converge rate. A super-twisting sliding mode controller, which can stabilize the fast-varying subsystem, is used to suppress the vibration of flexible link.

Keywords

Acknowledgements

This work was supported by the National Nature Science Foundation of China under Grant Nos. 62063010, 51875380 and 51375323; and Suzhou Science and Technology Plan (Basic Research) Project under Grant No. SJC2023002.

Citation

Zhu, Q., Sun, W., Shen, Y., Fu, G., Yang, Y. and Li, J. (2024), "A novel combined control of flexible single-link manipulator based on singularly perturbed theory", Robotic Intelligence and Automation, Vol. 44 No. 6, pp. 806-816. https://doi.org/10.1108/RIA-01-2024-0027

Publisher

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Emerald Publishing Limited

Copyright © 2024, Emerald Publishing Limited

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