Hybrid Controllers for Two-Link Flexible Manipulators

A novel hybrid control scheme consisting of a fuzzy nonsingular terminal sliding mode (NTSM) controller and a genetic algorithm, is proposed for the tip-position control of an uncertain two-link flexible manipulator. By output redefinition, the whole system is decomposed into an input-output subsystem and a zero dynamic subsystem, aimed to solve the problem of non-minimum phase. By the designed fuzzy NTSM controller, the input-output subsystem is guaranteed of fast convergence, strong robustness and perfect capability of eliminating chattering. And simultaneously, by the designed genetic algorithm, the zero dynamic subsystem is guaranteed of convergence and good performance. The error range of tip position output caused by system uncertainties is deduced by Lyapunov stability theorem.