Robust vibration control for flexible arms using the sliding mode method

Xinkai Chen, Chun Yi Su, Toshio Fukuda

Research output: Contribution to journalArticle

10 Citations (Scopus)


The vibration control of flexible arms is accomplished here using the sliding mode method, where a differentiable approach modifies the traditional discontinuous method. The higher order modes of the flexible arm are treated as disturbances and are compensated by introducing a disturbance observer. Simplified expressions of the motor angular and the strain moment for the flexible arm with a disturbance observer are obtained, where the remaining disturbance and the model uncertainties are considered as system uncertainties. The robustness of the sliding mode control is effectively employed to cope with the system uncertainties, where the bounds of the uncertainties are adaptively updated. The proposed control law simultaneously causes the motor angular to track a desired signal and the strain moment to approach zero. The stability of the controlled flexible arm is analyzed based on the obtained important fact that a part of the control input is the approximate estimate of a special signal generated by the uncertainty. The motor angular tracking error and the converging speed of the controlled signals are determined by means of design parameters. Experimental results demonstrate the robustness of the proposed method.

Original languageEnglish
Pages (from-to)594-604
Number of pages11
JournalAsian Journal of Control
Issue number4
Publication statusPublished - 2003 Dec 1



  • Bounds of the uncertainty
  • Flexible arm
  • Higher order vibration modes
  • Sliding mode method
  • Vibration control

ASJC Scopus subject areas

  • Control and Systems Engineering

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