Command generation with sliding mode control for flexible systems

Modeling inaccuracies can have adverse affects on a control system of a system, especially when there are significant flexible dynamics. Sliding mode control can provide good trajectory tracking of such systems, even in the presence of disturbances. Command generation has proven beneficial for eliminating residual vibration from motion induced dynamics. In an attempt to utilize the best aspects of these two control methods, the paper proposes a control scheme that combines command generation and sliding mode control.