Joint angle trajectory tracking and vibration control of a two-link flexible link manipulator (TLFM) in the presence of unmatched disturbances

Kshetrimayum Lochan, Jay Prakash Singh, Binoy Krishna Roy

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

Abstract

Underactuation and nonminimum phase properties of a robotic two-link flexible manipulator (TLFM) have attracted many researchers to use various types of control techniques for its desired outcome. The most focused problem of a two-link flexible manipulator is the trajectory tracking and vibration control. It is seen, in the literature, that some research works have tackled the tracking and vibration control of TLFM in the presence of disturbances added in the position where torque is added. However, in this paper, using a disturbance observer and sliding mode control technique is designed to accomplish the link vibration and joint angle trajectory tracking control of a TLFM in the presence of unmatched disturbances. The unmatched disturbance is estimated with the help of a disturbance observer. The simulation results obtained using MATLAB confirm that the joint angle trajectory tracking and link vibration control of the considered TLFM are achieved successfully and the proposed technique works effectively.

Original languageEnglish
Title of host publicationAdvances in Control Instrumentation Systems - Select Proceedings of CISCON 2019
EditorsV.I. George, B.K. Roy
PublisherSpringer Gabler
Pages227-239
Number of pages13
ISBN (Print)9789811546754
DOIs
Publication statusPublished - 2020
Event16th Control Instrumentation System Conference, CISCON 2019 - Manipal, India
Duration: 08-11-201909-11-2019

Publication series

NameLecture Notes in Electrical Engineering
Volume660
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Conference

Conference16th Control Instrumentation System Conference, CISCON 2019
CountryIndia
CityManipal
Period08-11-1909-11-19

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering

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    Lochan, K., Singh, J. P., & Roy, B. K. (2020). Joint angle trajectory tracking and vibration control of a two-link flexible link manipulator (TLFM) in the presence of unmatched disturbances. In V. I. George, & B. K. Roy (Eds.), Advances in Control Instrumentation Systems - Select Proceedings of CISCON 2019 (pp. 227-239). (Lecture Notes in Electrical Engineering; Vol. 660). Springer Gabler. https://doi.org/10.1007/978-981-15-4676-1_21