Modeling and Mixed H∞-Sliding Mode Control Approach for a Flexible Joint Manipulator

The combined H
∞
sliding mode control problem for a family of Lipschitz nonlinear systems is discussed in this study. Improving the efficiency of the SMC system is the goal. An easier analytical condition is proposed by separating Lyapunov and system matrices. Linear matrix inequalities (LMIs) are used to formulate the switching surface design issue. Next, a suitable sliding mode control rule is created to guarantee the reachability of the switching manifold. In order to show the effectiveness of the suggested design strategy, a single-link flexible joint robotic SLFJM system model is taken into consideration.