SMC controlled chaotic trajectory tracking of two-link flexible manipulator with PID sliding surface

The objective of the paper is to design a controller for two-link flexible manipulator to track the chaotic signal in presence of bounded disturbances and to regulate the tip deflection to its desired value close to zero. The Genesio-Tesi chaotic system is used to generate the desired trajectory for the flexible manipulator. A sliding mode controller is designed with PID sliding surface to achieve the objective. The designed sliding mode controller works satisfactorily with low chattering in presence of bounded disturbances. The lumped parameter method is used to model the dynamics of the manipulator. The stability of the PID sliding surface is guaranteed using Lyapunov stability theory. The sliding surface is designed in terms of tracking error dynamics and tip deflection error dynamics. A chaotic trajectory tracking of angular position and regulation of tip deflection using the PID sliding mode controller for the two-link flexible manipulator is the novelty of the paper.