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—This paper studies the control motion of a single
link flexible joint robot by using a hierarchical non-singular
terminal sliding mode controller (HNTSMC). In comparison to
the conventional sliding mode controller (CSMC), the proposed
algorithm (NTSMC) not only can conserve characteristics of the
convention CSMC, such as easy implementation, guaranteed
stability and good robustness against system uncertainties and
external disturbances, but also can ensure a faster convergence
rate of the systems states to zero in a finite time and singularity
free. The flexible joint robot (FJR) is a two degree of freedom
(2DOF) nonlinear and underactuated system. The system here is
modeled as a fourth order system by using Lagrangian method.
Based on t
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