Joint modeling and sliding mode control method of flexible manipulator considering joint motor characteristics

The purpose of the invention is to provide a joint modeling and sliding mode control method of a flexible manipulator considering joint motor characteristics. The joint modeling and sliding mode control method comprises the following steps of (1) joint modeling of the flexible manipulator and a joint motor; (2) model transformation and decoupling; (3) designing a finite time sliding mode controller of a redefinition subsystem; and (4) obtaining the tail end displacement of the flexible manipulator. Aiming at the flexible manipulator, the joint modeling and sliding mode control method of the flexible manipulator considering joint motor characteristics comprehensively considers the flexible manipulator parameter uncertainty and joint motor dynamic characteristics, so that the joint modelingof the flexible manipulator and the joint motor is realized; the output of the flexible manipulator is redefined, so that the minimum phase problem of the flexible manipulator is solved, the direct control of the joint motor