This paper presents modeling and sophisticated control of a single Degree Of Freedom (DOF) flexible robotic arm. The derived model is based on Euler-Lagrange approach while the first and second order (super twisting) Sliding Mode Control (SMC) is proposed as a non-linear control strategy. The control laws are subjected to various test inputs including step and sinusoids to demonstrate their tracking efficiency by observing transient and steady state behaviours. Both orders of SMC are then compared to characterize the control performance in terms of robustness, handling external disturbances and chattering. Results dictate that the super twisting SMC is more accurate and robust against the external noise and chattering phenomena compared to the first order SMC.

Robots are now an integral part of automation sector, thus indicating the importance of the associated control strategies. In contrast with conventional rigid manipulators, flexible arms offer several benefits in terms of light weight and power efficient structure, safe operation due to reduced inertia, low manufacturing cost and faster movements. The present paper proposes a linear control law based on Proportional Integral Derivative (PID) technique to control flexible manipulators. In particular, flexibility in joint is discussed highlighting the control challenges. Tuning of the controller is based on the derived dynamic model using Lagrange approach. The proposed control law is then implemented on a custom-developed platform. Trajectory tracking results witnessed effectiveness of the developed control strategy in terms of reducing undesirable vibrations thereby increasing precision in the flexible manipulator. It is anticipated that the results obtained have enormous potential in applications involving flexible manipulator.