A nonlinear sliding surface in Sliding Mode Control to reduce vibrations of a three-link flexible manipulator

[+] Author and Article Information
Francesco Ripamonti

Politecnico di Milano, Department of Mechanics, Via La Masa 1, 20156 Milan (Italy)

Lorenzo Orsini

Politecnico di Milano, Department of Mechanics, Via La Masa 1, 20156 Milan (Italy)

Ferruccio Resta

Politecnico di Milano, Department of Mechanics, Via La Masa 1, 20156 Milan (Italy)

1Corresponding author.

ASME doi:10.1115/1.4036502 History: Received August 24, 2016; Revised April 10, 2017


Many mechanical systems often show nonlinear behaviour related to particular operating conditions or to the nonlinear characteristic of the elements (springs, dampers, etc.) making up the system. In these cases, common engineering practice is to linearize the equation of motion around a particular operating point, and to design a linear controller. Although this approach is simple, its main disadvantage is that stability properties and validity of the controller are only local. For these reasons, over the last decades, non-linear control techniques have been investigated more and more in order to improve control performance. In particular, in this paper the model-based sliding-mode-control (SMC) technique is considered because of its easy implementation and the considerable robustness of the controller even under significant model uncertainties. This technique is analysed numerically with respect to the pendulum system, to better understand the influence of the control action on the system dynamics, and then experimentally in order to control a highly nonlinear system, consisting of a three-link flexible manipulator. For this system, a nonlinear modal model is developed and a nonlinear observer is designed. Results of experimental tests on the manipulator are also reported.

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