@article{ZHANG2009, 
author = {Yu ZHANG and Tangwen YANG and Zengqi SUN},
title = {Neuro-Sliding-Mode Control of Flexible-Link Manipulators Based on Singularly Perturbed Model},
year = {2009},
journal = {Tsinghua Science and Technology},
volume = {14},
number = {4},
pages = {444-451},
keywords = {flexible manipulators, neuro-sliding-mode control, sliding-mode control, singular perturbation},
url = {https://www.sciopen.com/article/10.1016/S1007-0214(09)70100-2},
doi = {10.1016/S1007-0214(09)70100-2},
abstract = {A neuro-sliding-mode control (NSMC) strategy was developed to handle the complex nonlinear dynamics and model uncertainties of flexible-link manipulators. A composite controller was designed based on a singularly perturbed model of flexible-link manipulators when the rigid motion and flexible motion are decoupled. The NSMC is employed to control the slow subsystem to track a desired trajectory with a traditional sliding mode controller to stabilize the fast subsystem which represents the link vibrations. A stability analysis of the flexible modes is also given. Simulations confirm that the NSMC performs better than the traditional sliding-mode control for controlling flexible-link manipulators. The control strategy not only gives good tracking performance for the joint angle, but also effectively suppresses endpoint vibrations. The simulations also show that the control strategy has a strong self-adaptive ability for controlling manipulators with different parameters.}
}