A sliding mode observer and controller for a single link flexible arm

Abstract

A sliding mode based controller is designed to achieve the end-point tracking of a flexible arm, with minimum transient and steady-state error. The information on deflection is derived through a sliding mode observer, providing data on the variables, q/sub 1/ and q/sub 2/ and their derivatives. The sliding mode technique utilized both for the observer and the controller provides robustness against the nonlinearities and uncertainties of the system. The obtained simulation results demonstrate the fulfilment of the performance goals and thus, motivate the implementation of the method on a DSP-based flexible arm test-bed.