Comparison of chattering in single link flexible manipulator with sliding mode controllers

Kshetrimayum Lochan, Surajit Suklabaidya, B. K. Roy

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

A comparative analysis on chattering based on Sliding Mode Controller (SMC) techniques for a single link flexible manipulator is presented in this paper. The proposed controller techniques include i) normal-SMC ii) Quasi-SMC iii) Asymptotic-SMC. These controllers are used in controlling the tip position as well as the tip deflection of the system. Lyapunov stability theory is used to achieve the stability of sliding surfaces. Since, SMC is insensitive to disturbances, it helps in achieving the desired position as well as in controlling the deflection. The comparative study of chattering by using normal-SMC, Quasi-SMC and Asymptotic-SMC for flexible manipulator is a major contribution in this paper. Simulation results of the proposed SMC techniques are used to compare the chattering along with tip position and tip deflection performances.

Original languageEnglish
Title of host publication2015 International Conference on Energy, Power and Environment
Subtitle of host publicationTowards Sustainable Growth, ICEPE 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781467365031
DOIs
Publication statusPublished - 12-07-2016
Event2015 International Conference on Energy, Power and Environment, ICEPE 2015 - Shillong, Meghalaya, India
Duration: 12-06-201513-06-2015

Publication series

Name2015 International Conference on Energy, Power and Environment: Towards Sustainable Growth, ICEPE 2015

Conference

Conference2015 International Conference on Energy, Power and Environment, ICEPE 2015
CountryIndia
CityShillong, Meghalaya
Period12-06-1513-06-15

All Science Journal Classification (ASJC) codes

  • Renewable Energy, Sustainability and the Environment
  • Control and Optimization
  • Computer Networks and Communications
  • Energy Engineering and Power Technology

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    Lochan, K., Suklabaidya, S., & Roy, B. K. (2016). Comparison of chattering in single link flexible manipulator with sliding mode controllers. In 2015 International Conference on Energy, Power and Environment: Towards Sustainable Growth, ICEPE 2015 [7510106] (2015 International Conference on Energy, Power and Environment: Towards Sustainable Growth, ICEPE 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EPETSG.2015.7510106