A comparison between non linear control logics applied to a 3-segments manipulator

Non-linear behavior is present in many mechanical systems operating conditions. In these cases, to improve the vibration control performances achievable with the linearization of the equations of motion, it is possible to design the control system on a set of linearized models (operating conditions) and to apply the gain-scheduling, increasing the system stability too. More recently new control logics are applied to the systems in non-linear form. This paper presents a nonlinear sliding-mode control and compares it to the linearized approaches. A boom formed by three flexible segments and actuated by three electrical motors is chosen to numerically test the proposed logics.