High-order terminal sliding mode control of flexible manipulators based on genetic algorithm

A high-order terminal sliding mode control method is proposed to solve non-minimum phase control problem and realize end-position control for two-link flexible manipulators. The method is based on genetic algorithm. The output of the manipulator system is redefined, and by input-output linearization, the system is decomposed into input-output subsystem and internal subsystem. To guarantee the stability of the two subsystems, a controller is designed by high-order sliding mode and terminal sliding mode for the input-output subsystem; and a genetic algorithm is adopted to optimize the parameters for the internal subsystem. The proposed method can weaken the influence of chattering on flexible modes and improve the precision of terminal controller. Simulation results are presented to validate the proposed method.