TY - GEN
T1 - Control of rotational base single link flexible manipulator using different SMC techniques for variable payloads
AU - Suklabaidya, Surajit
AU - Lochan, Kshetrimayum
AU - Roy, B. K.
PY - 2016/7/12
Y1 - 2016/7/12
N2 - In this paper two types of sliding mode control (SMC): normal sliding mode control (normal-SMC) and Quasi sliding mode control (Quasi-SMC) are used in controlling single-link rotational base flexible manipulator for three different payloads. The dynamic equations of the system are done by using Lumped parameter method. Quasi-SMC is used for chattering elimination which is present in the case of normal-SMC. Lyapunov stability theory is used to achieve the stability of sliding surface. Since, SMC is insensitive to parameter uncertainties and disturbances within some bounds; it helps in tracking the desired trajectories and controlling the dynamics. Tip deflection and hub angle are controlled using SMC with payload variation of 0.0Kg, 0.1Kg, and 0.5Kg. To demonstrate the results, MATLAB simulations are used for the proposed control approaches.
AB - In this paper two types of sliding mode control (SMC): normal sliding mode control (normal-SMC) and Quasi sliding mode control (Quasi-SMC) are used in controlling single-link rotational base flexible manipulator for three different payloads. The dynamic equations of the system are done by using Lumped parameter method. Quasi-SMC is used for chattering elimination which is present in the case of normal-SMC. Lyapunov stability theory is used to achieve the stability of sliding surface. Since, SMC is insensitive to parameter uncertainties and disturbances within some bounds; it helps in tracking the desired trajectories and controlling the dynamics. Tip deflection and hub angle are controlled using SMC with payload variation of 0.0Kg, 0.1Kg, and 0.5Kg. To demonstrate the results, MATLAB simulations are used for the proposed control approaches.
UR - http://www.scopus.com/inward/record.url?scp=84981505061&partnerID=8YFLogxK
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U2 - 10.1109/EPETSG.2015.7510095
DO - 10.1109/EPETSG.2015.7510095
M3 - Conference contribution
AN - SCOPUS:84981505061
T3 - 2015 International Conference on Energy, Power and Environment: Towards Sustainable Growth, ICEPE 2015
BT - 2015 International Conference on Energy, Power and Environment
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 International Conference on Energy, Power and Environment, ICEPE 2015
Y2 - 12 June 2015 through 13 June 2015
ER -
