Comparison of chattering in single link flexible manipulator with sliding mode controllers

A comparative analysis on chattering based on Sliding Mode Controller (SMC) techniques for a single link flexible manipulator is presented in this paper. The proposed controller techniques include (i) normal-SMC (ii) Quasi-SMC (iii) Asymptotic-SMC. These controllers are used in controlling the tip position as well as the tip deflection of the system. Lyapunov stability theory is used to achieve the stability of sliding surfaces. Since, SMC is insensitive to disturbances, it helps in achieving the desired position as well as in controlling the deflection. The comparative study of chattering by using normal-SMC, Quasi-SMC and Asymptotic-SMC for flexible manipulator is a major contribution in this paper. Simulation results of the proposed SMC techniques are used to compare the chattering along with tip position and tip deflection performances.