Modeling and control of two manipulators handling a flexible payload based on singular perturbation

A composite controller is designed based on singular perturbation model of two manipulators handling a flexible payload with external disturbances and parameters uncertainties, where an adaptive sliding mode controller is presented for the slow subsystem. The control algorithm can realize trajectory tracking control in the large range and update some values of parameters effectively, comparing with the conventional sliding mode control method. A robust optimal controller is designed to suppress the elastic vibration. Finally, the cooperative control input is shown through dual-time scale transform. Numerical simulation results validate the modeling method and control law.