Vibration control of flexible joint-a sliding mode approach

The vibration control of a flexible joint based on the sliding mode control approach is presented. Two solutions are discussed. First, a solution using lumped parameters is described. The second solution is in the framework of distributed parameter systems. In both cases the control system has a cascade structure with an inner loop designed to track the reference value of the actuator´s shaft position and an outer loop to compute the reference of the motor shaft position in such a way that the position of the flexible joint satisfies the prescribed dynamics. The results of the simulation and tests are presented