Fuzzy global sliding mode control for flexible manipulators

This paper deals with vibration reduction of the flexible manipulators bonded with piezoelectric patch actuator. The flexible manipulators´ dynamic model is established using the theory of Euler-beam. This flexible structure has nonlinear characteristics and must be robust to uncertainties as well as disturbances, so a novel advanced control methodology called fuzzy global sliding mode control (FGSMC) is utilized to reduce the vibration. In this controller, global sliding mode factor is introduced in the design of switching function to make system have global robustness, and fuzzy logic control is employed to estimate the switching gain of control law so as to alleviate the chattering. An experiment for active vibration control of flexible manipulators is performed with the aid of dSPACE Real-Time Simulation System. The experimental results show that FGSMC reduce vibration of the flexible manipulators effectively, even though an inexact model is used to design the controller.