High Order Sliding Mode Controller Design for Single-Link Flexible Joint Manipulator
XIE Shiyu
SUN Wei
Abstract：The paper introduces a finite-time stabilization control method for single-link flexible-joint ma-nipulator systems using a high-order sliding mode algorithm.The proposed approach addresses two key aspects.Firstly,a power integrator is incorporated to design a novel Lyapunov function,which ensures the convergence of the output signal within a finite time.Secondly,the chattering phenomenon caused by system uncertainty is mitigated using a sign function.By leveraging the finite-time Lyapunov stability the-ory,the paper proves that the algorithm guarantees the convergence of the sliding variable to the origin within a finite time.Finally,the effectiveness of the control algorithm is demonstrated through simulation results on a single-link flexible joint manipulator.
Keywords：high order sliding mode controlfinite-time convergencesingle-link flexible joint manipulator
Publication Date：2024-04-28
Online Publishing Date：2026-08-28(First online date of this platform, not the publication date of the document)
Pages：10( 9-18 )