Convergence Time Estimation Of Flexible Manipulator Control System With Ntsm

This paper focuses on the transient analysis for a two-link flexible manipulator under the control of non-singular terminal sliding mode (NTSM), and proposes a convergence time estimation method with difficulties of non-minimum phase and the uncontrolled reaching motion. To overcome the first problem, the system is decomposed into a zero dynamic subsystem and an input-output subsystem-the stability of the former is guaranteed by pole placement, while a NTSM controller is designed for the latter to realize its finite time convergence and better control performance. The relationship between the initial point and the sliding mode reaching time is explored, and further the convergence time is estimated to overcome the second problem. Simulations validate the proposed method.