Control of rotational base single link flexible manipulator using different SMC techniques for variable payloads

Surajit Suklabaidya, Kshetrimayum Lochan, B. K. Roy

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

4 Citations (Scopus)

Abstract

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.

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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    Suklabaidya, S., Lochan, K., & Roy, B. K. (2016). Control of rotational base single link flexible manipulator using different SMC techniques for variable payloads. In 2015 International Conference on Energy, Power and Environment: Towards Sustainable Growth, ICEPE 2015 [7510095] (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.2015.7510095