Combination Control Method of Multi-Link Flexible Manipulator

In order to overcome the position error caused by the characteristics of the flexible manipulator, a combination control method is proposed to distinguish the speed and slow variable sub-systems. Firstly, the elastic deformation of the flexible manipulator is described by the hypothesis mode method, and then the dynamic equation of the flexible manipulator is established by the Lagrange method. The flexible manipulator system is decomposed into a fast subsystem and a slow subsystem by the singular perturbation method. Combining adaptive control and synovial variable structure, a slow variable subsystem control method based on adaptive sliding mode variable structure control is proposed to solve the strong nonlinearity and parameter uncertainty of the slow variable subsystem. In view of the inaccuracy of the model of the fast variable subsystem, the fuzzy controller of the fast variable subsystem is designed because the fuzzy control has no requirement on the model precision. The simulation results show that compared with the traditional single control, the position error of the manipulator is greatly reduced, the response state and output torque of the system is more stable, and the control accuracy and stability of the flexible manipulator are greatly improved.