Observer-Based Fixed-Time Nested Sliding-Mode Control for Tip-Position Regulation of a Single-Link Flexible Manipulator
This work addresses the need for precise position control under strict time constraints in flexible manipulators, which is critical for applications like industrial automation and robotics.
This paper proposes a fixed-time nested sliding-mode control strategy for tip-position regulation of a single-link flexible manipulator, achieving precise and robust control with guaranteed convergence within a fixed time. The controller's effectiveness is validated through simulations and real hardware experiments, showing superior accuracy and stability compared to state-of-the-art methods.
This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested non-singular terminal sliding mode controller is designed for the system, enabling precise and robust control. Furthermore, a fixed-time sliding mode observer is designed to estimate unmeasured system states accurately in a fixed time, thereby enabling closed-loop control implementation. A stability analysis is presented to guarantee the robustness and efficacy of the proposed composite control algorithm. The effectiveness of the proposed fixed-time controller is demonstrated through numerical simulation on accuracy, stability, and convergence speed. The proposed controller's performance is also compared with that of other state-of-the-art control schemes. The proposed controller is further validated through experiments conducted on a real hardware setup.