Sliding mode and adaptive sliding mode control approaches of two link flexible Manipulator

K. Lochan, S. Suklabaidya, B. K. Roy

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

3 Citations (Scopus)

Abstract

In this paper, two types of SMC (Sliding Mode Control) techniques with and without Adaptive control are used for controlling two-link flexible manipulator with uncertain parameters. Conventional and Quasi-SMC are two types of SMC used for trajectory tracking problem of flexible manipulator. With the use of Quasi-SMC chattering is eliminated in control input and in sliding surface, which is present in conventional SMC. Adaptive control is used for achieving the stability under uncertainties and varying parameters situation. Lyapunov stability is used for achieving the stability of sliding surface. MATLAB simulation result showed that the proposed control techniques are working satisfactorily.

Original languageEnglish
Title of host publicationProceedings of the 2015 Conference on Advances In Robotics, AIR 2015
PublisherAssociation for Computing Machinery, Inc
ISBN (Electronic)9781450333566
DOIs
Publication statusPublished - 02-07-2015
Event2015 Conference on Advances In Robotics, AIR 2015 - Goa, India
Duration: 02-07-201504-07-2015

Publication series

NameACM International Conference Proceeding Series
Volume02-04-July-2015

Conference

Conference2015 Conference on Advances In Robotics, AIR 2015
CountryIndia
CityGoa
Period02-07-1504-07-15

All Science Journal Classification (ASJC) codes

  • Software
  • Human-Computer Interaction
  • Computer Vision and Pattern Recognition
  • Computer Networks and Communications

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    Lochan, K., Suklabaidya, S., & Roy, B. K. (2015). Sliding mode and adaptive sliding mode control approaches of two link flexible Manipulator. In Proceedings of the 2015 Conference on Advances In Robotics, AIR 2015 [a58] (ACM International Conference Proceeding Series; Vol. 02-04-July-2015). Association for Computing Machinery, Inc. https://doi.org/10.1145/2783449.2783508