Second-Order Non-Singular Terminal Sliding Mode Optimal Control Of Uncertain Flexible Manipulator

For a two-link flexible manipulator with uncertainty, this paper presents a optimal control approach by using second-order nonsingular terminal sliding mode(NTSM). Aiming at its non-minimum characteristic, the output redefinition technology is firstly utilized. Then a two-layer sliding surface is designed with purpose of adding the relative degree of the system, and further eliminating the headache chattering problem. Moreover, genetic algorithm is combined for the stability of zero-dynamic subsystem for better design parameters of second-order NTSM. Simulations are provided to verify the effectiveness of the proposed method.