Distributed parameter model and cooperative control of manipulators handling a flexible payload

The distributed parameter dynamic model for two manipulators handling a flexible payload is proposed by Hamilton´s principle. A composite controller is designed based on singular perturbation model with external disturbances and parameters uncertainties, where an adaptive fuzzy sliding mode controller is presented for the slow lumped subsystem. The control algorithm can realize desired position control and update some values of parameters effectively, comparing with the conventional sliding mode control method. A sliding mode controller is designed to suppress the elastic vibration for the slow distributed subsystem. Finally, the cooperative control input is shown through dual-time scale transform. Numerical simulation results validate the modeling method and control law.