Output feedback control of flexible link manipulator using sliding modes

Control of flexible link manipulators poses a challenge due to flexible modes. This paper presents output feedback control for positioning a tip of flexible link manipulator(FLM) using sliding modes. Sliding mode observer(SMO) is designed for estimation of system states. Output estimation error beco...

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Bibliographic Details
Published in2012 7th International Conference on Electrical and Computer Engineering pp. 949 - 952
Main Authors Kurode, S., Dixit, P.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2012
Subjects
Flexible link manipulator (FLM) and Sliding Mode Observer (SMO)
Manipulators
Mathematical model
Observers
Output feedback
Robustness
Sliding mode control
Sliding Mode Control (SMC)
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Summary:Control of flexible link manipulators poses a challenge due to flexible modes. This paper presents output feedback control for positioning a tip of flexible link manipulator(FLM) using sliding modes. Sliding mode observer(SMO) is designed for estimation of system states. Output estimation error becomes zero in finite time due to sliding modes. The SMC with SMO is designed for positioning a tip of FLM. The method is validated in simulation and experiment both.
ISBN:146731434X
9781467314343
DOI:10.1109/ICECE.2012.6471708