中文摘要：

针对单连杆柔性臂的点对点定位问题，提出了动态滑模控制与最优控制相结合的混合控制方法．利用奇异摄动法将柔性臂系统分为慢变和快变2个子系统，并分别设计控制器；对慢变子系统采用基于动态切换函数的动态滑模控制．该方法考虑到了执行机构的动态特性，可以消除控制输入的抖振．快变子系统经变换后呈线性系统，故采用简单的最优控制即可快速有效地抑制振动．数值仿真结果表明，该方法不仅有效地降低了滑模控制所固有的抖振，而且能实现柔性臂的精确定位和振动抑制．

英文摘要：

A composite controller is designed based on the singular perturbation model of one-link flexible manipulators. A dynamic sliding mode controller is designed for the slow subsystem, and optimal control- let is designed to stabilize the fast subsystem. Numerical simulation results confirm that the proposed con- troller not only can perform fast and accurate tracking, but also can reduce the chattering of the sliding- mode control, and the proposed controller can suppress the tip vibration of the flexible manipulators effec- tively.