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

K. Lochan; S. Suklabaidya; B. K. Roy

doi:10.1145/2783449.2783508

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

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

Department of Mechatronics Engineering, Manipal Institute of Technology, Manipal

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 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 language	English
Title of host publication	Proceedings of the 2015 Conference on Advances In Robotics, AIR 2015
Publisher	Association for Computing Machinery, Inc
ISBN (Electronic)	9781450333566
DOIs	https://doi.org/10.1145/2783449.2783508
Publication status	Published - 02-07-2015
Event	2015 Conference on Advances In Robotics, AIR 2015 - Goa, India Duration: 02-07-2015 → 04-07-2015

Publication series

Name	ACM International Conference Proceeding Series
Volume	02-04-July-2015

Conference

Conference	2015 Conference on Advances In Robotics, AIR 2015
Country/Territory	India
City	Goa
Period	02-07-15 → 04-07-15

All Science Journal Classification (ASJC) codes

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

Access to Document

10.1145/2783449.2783508

Cite this

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

@inproceedings{05c69149aec3469aa02d6f30d316d60f,

title = "Sliding mode and adaptive sliding mode control approaches of two link flexible Manipulator",

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.",

author = "K. Lochan and S. Suklabaidya and Roy, {B. K.}",

year = "2015",

month = jul,

day = "2",

doi = "10.1145/2783449.2783508",

language = "English",

series = "ACM International Conference Proceeding Series",

publisher = "Association for Computing Machinery, Inc",

booktitle = "Proceedings of the 2015 Conference on Advances In Robotics, AIR 2015",

note = "2015 Conference on Advances In Robotics, AIR 2015 ; Conference date: 02-07-2015 Through 04-07-2015",

}

Lochan, K, Suklabaidya, S & Roy, BK 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, 2015 Conference on Advances In Robotics, AIR 2015, Goa, India, 02-07-15. https://doi.org/10.1145/2783449.2783508

Sliding mode and adaptive sliding mode control approaches of two link flexible Manipulator. / Lochan, K.; Suklabaidya, S.; Roy, B. K.

Proceedings of the 2015 Conference on Advances In Robotics, AIR 2015. Association for Computing Machinery, Inc, 2015. a58 (ACM International Conference Proceeding Series; Vol. 02-04-July-2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Sliding mode and adaptive sliding mode control approaches of two link flexible Manipulator

AU - Lochan, K.

AU - Suklabaidya, S.

AU - Roy, B. K.

PY - 2015/7/2

Y1 - 2015/7/2

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84959256952&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84959256952&partnerID=8YFLogxK

U2 - 10.1145/2783449.2783508

DO - 10.1145/2783449.2783508

M3 - Conference contribution

AN - SCOPUS:84959256952

T3 - ACM International Conference Proceeding Series

BT - Proceedings of the 2015 Conference on Advances In Robotics, AIR 2015

PB - Association for Computing Machinery, Inc

T2 - 2015 Conference on Advances In Robotics, AIR 2015

Y2 - 2 July 2015 through 4 July 2015

ER -

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

Abstract

Publication series

Conference

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this