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Finite-Time Sliding Mode Observer for Uncertain Nonlinear Flexible Manipulators with Unknown Disturbance


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DOI: https://doi.org/10.15866/ireme.v12i11.15494

Abstract


Most of the active vibration control strategies require the flexible manipulator state feedback, and the assumption they are likely available does not often hold. This paper aims to synthesize a second-order sliding-mode observer/differentiator (SOSMO) in order to reconstruct the system states for a class of flexible manipulators based on the available outputs. The observer is also able to identify the unknown extraneous disturbance even under uncertainty conditions. The stability of the SOSMO is rigorously studied based on the Lyapunov method. The value of the equivalent output injection is used in order to identify deterministic disturbances, while the last square method is proposed in order to identify the parameters uncertainties. The efficiency and the robustness of the observer is shown by numerical examples.
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Keywords


Active Vibration Control; Estimation/Identification; One-Link Flexible Manipulator; Rigid-Flexible Manipulator; Second Order Sliding Mode Observers

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References


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