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

fYear

2013

fDate

28-30 Aug. 2013

Firstpage

276

Lastpage

281

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);

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications (CCA), 2013 IEEE International Conference on

Conference_Location

Hyderabad

ISSN

1085-1992

Type

conf

DOI

10.1109/CCA.2013.6662771

Filename

6662771