Output feedback control of flexible link manipulator using sliding modes

• Published in: 2012 7th International Conference on Electrical and Computer Engineering pp. 949 - 952
• Main Authors: Kurode, S., Dixit, P.
• Format: Conference Proceeding
• Language: English
• 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)

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...