Adaptive Second-order Sliding Mode Control of Dual-Link Flexible Manipulator System %0 Journal Article %D 2024 %J Journal of Jilin Institute of Chemical Technology %R 10.16039/j.cnki.cn22-1249.2024.07.007 %P 39-46 %V 41 %N 7 %U {https://xuebao.jlict.edu.cn/CN/abstract/article_2463.shtml} %8 2024-07-25 %X In order to solve the problems of chattering, low accuracy and uncertain parameters in the trajectory tracking of two-link flexible manipulator, an observer-based adaptive second-order sliding mode controller is designed. The dynamic equation of the two-link flexible manipulator is given according to Lagrange equation and energy conservation law, and a sliding mode observer is designed. Then, based on the error state equation, an adaptive second-order sliding mode control law is designed, in which the super-twisting algorithm is used to suppress chattering, and the stability of the closed-loop system is proved by Lyapunov theory. Simulation results show that the proposed control strategy has the advantages of high tracking accuracy, less chattering and better robustness.