Title :
Observer based control of flexible link manipulator using discrete sliding modes
Author :
Kurode, Shailaja ; Merchant, Milton
Author_Institution :
Dept. of Electr. Eng., Coll. of Eng., Pune, India
Abstract :
The flexible modes present in flexible link manipulators (FLM) cause vibrations which limit the performance of FLM and the major control challenge lies in suppressing these vibrations. This paper presents the control of single link flexible manipulator using discrete sliding modes (DSM). Discrete sliding mode observer (DSMO) is designed for the estimation of states where the output estimation error becomes zero in finite time. The discrete sliding mode control (DSMC) is synthesized using adaptive reaching law. DSMC with DSMO is used for positioning the tip of FLM. The method is validated in simulations.
Keywords :
adaptive control; control system synthesis; flexible manipulators; observers; position control; state estimation; variable structure systems; DSMC; DSMO; FLM; adaptive reaching law; discrete sliding mode control synthesis; discrete sliding mode observer; observer based control; output estimation error; positioning; single link flexible manipulator; state estimation; vibrations; DC motors; Manipulators; Mathematical model; Observers; Sliding mode control; Vectors; Discrete Sliding Mode Control (DSMC); Flexible Link Manipulator (FLM); Sliding Mode Observer (SMO);
Conference_Titel :
Control Applications (CCA), 2013 IEEE International Conference on
Conference_Location :
Hyderabad
DOI :
10.1109/CCA.2013.6662771
