Sliding Mode Observer Based Adaptive Model Predictive Control for a Disturbed Flexible Manipulator Active Vibration Control

In this paper, a control strategy, based on adaptive model predictive control and sliding mode observation, is proposed to actively control a flexible manipulator. In a closed loop frame, the observer provides the state required by the controller to iteratively derive the system Jacobians and optimize the control signal. The model of the targeted flexible manipulator is detailed in this paper, and an exogenous bounded disturbance corrupting the control signal is assumed when supplied to the observer. The effectiveness of the controller to track the rigid body position while diminishing the residual vibration, and the observer to provide an accurate state estimate to the controller are examined vie numerical analysis.