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柔性臂的位置控制中，最大的难点是柔性振动的抑制，常规控制方法往往不能同时得到良好的关节跟踪轨迹和对柔性振动的补偿。本文提出了仿人智能变结构控制方法，此方法综合了仿人智能控制与变结构控制的优点，仿真结果表明，这种控制方法能有效的抑制柔性振动，同时具有良好的关节跟踪能力。
Flexible arm position control, the biggest difficulty is the suppression of flexible vibration, conventional control methods often can not get a good joint tracking trajectory and compensation for flexible vibration. In this paper, a variable humanoid intelligent variable structure control method is proposed, which combines the advantages of humanoid intelligent control and variable structure control. The simulation results show that this control method can effectively restrain the flexible vibration and has good joint tracking ability.