Sliding mode control using switching gain for a vehicle flexible manipulator

This paper presents the dynamic model and the application of a sliding mode control using switching gain for trajectory tracking of a hydraulic-driven rigid-flexible manipulator. Firstly, the dynamic model of the manipulator is derived by using the Lagrange equation and assumed mode method. This paper gives a description of the uncertainties of the system. Secondly, the paper considers these uncertainties and finds a sliding mode control law using switching gain. The stability is shown by the Lyapunov theory. To weaken the chattering of control signal, saturation function is used to replace sign function. Finally, simulation results present that good tracking performances and the vibration suppression are achieved, also, the chattering of control signal is weakened.