Title :
Output feedback control of flexible link manipulator using sliding modes
Author :
Kurode, Shailaja ; Dixit, Pratima
Author_Institution :
Electr. Eng. Dept., Coll. of Eng., Pune, India
Abstract :
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.
Keywords :
control system synthesis; feedback; manipulators; observers; variable structure systems; FLM; SMO; controller design; flexible link manipulator; flexible modes; output estimation error; output feedback control; sliding mode observer; Flexible link manipulator (FLM) and Sliding Mode Observer (SMO); Sliding Mode Control (SMC);
Conference_Titel :
Electrical & Computer Engineering (ICECE), 2012 7th International Conference on
Conference_Location :
Dhaka
Print_ISBN :
978-1-4673-1434-3
DOI :
10.1109/ICECE.2012.6471708
