Trajectory tracking control of uncertain two-link flexible manipulators

An uncertain two-link flexible manipulator was decomposed into slow and fast subsystems by singular perturbation method. Then a hybrid control method was proposed to realize joint trajectory tracking control with oscillation suppression. For the slow subsystem, a fuzzy nonsingular terminal sliding mode control method was proposed to guarantee global stability, fast and precise tracking control, as well as to eliminate chattering phenomena. For the fast subsystem, an observer-based LQR control method was proposed to identify the unknown state variables and suppress flexible oscillation. The simulation results validate the design method.