Variable Structure Control of Flexible Manipulator Based on Distributed Parameter Model

In this paper, a new sliding mode variable structure control method is proposed based upon the distributed parameter model of flexible manipulator, and the stabilization problem of the system with parameter uncertain and disturbance is resolved. The variable structure controller is designed by use of the Lyapunov function method, and the sliding surface is designed as a linear combination of rotation angle, rotation angle velocity and root strain of flexible manipulator. The asymptotic stable of the closed-loop system is proved using the semigroup of linear operator and LaSalle invariance principle. Simulation results are presented to validate the design.