%0 Journal Article
%A CHU Ming
%A DENG Xia
%A HUANG Fei-jie
%A JIA Qing-xuan
%T The Composite Control of Dynamic Switching Sliding Mode and Optimal of One-Link Flexible Manipulators
%D 2013
%R 10.13190/jbupt.201304.46.048
%J Journal of Beijing University of Posts and Telecommunications
%P 50-54
%V 36
%N 4
%X <p>A composite controller is designed based on the singular perturbation model of one-link flexible manipulators. A dynamic sliding mode controller is designed for the slow subsystem, and optimal controller is designed to stabilize the fast subsystem. Numerical simulation results confirm that the proposed controller not only can perform fast and accurate tracking, but also can reduce the chattering of the sliding-mode control, and the proposed controller can suppress the tip vibration of the flexible manipulators effectively.</p>
%U https://journal.bupt.edu.cn/EN/10.13190/jbupt.201304.46.048