Variable structure control application for flexible manipulators

Variable structure control (VSC) with sliding mode is a special type of control technique that is capable of making a control system very robust with respect to system parameter variations and external disturbances. Because of the robustness property, easy and decoupled design technique VSC finds important applications in control of flexible manipulators. Here, VSC application to a flexible one-link manipulator and a two link manipulator with last link flexible are considered. Simulation results are obtained to evaluate the performance of the controllers. Simulation results show that variable structure control with sliding mode can provide effective control of flexible manipulators