Tracking control and deflection suppression of an AMM modelled TLFM using backstepping based adaptive SMC technique

Kshetrimayum Lochan, Jay Prakash Singh, Binoy Krishna Roy

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

Abstract

Manipulators are widely used in all areas of science and technology. Effective trajectory tracking and quick deflection suppression are the two main aspect of research for a flexible manipulator. The paper reports aperiodic signal like trajectory tracking control for a planar assumed modes modelled two-link flexible manipulator (TLFM). The aperiodic chaotic signal is used as a desired trajectory for the TLFM. Thus, designing of a robust controller for the aperiodic signal tracking control is a challenging task. A backstepping based adaptive SMC technique is designed for the considered problem. In adaptive SMC, the gain of the switching control law is estimated online. The effectiveness of the considered controller is compared to an available backstepping controller. It is found that the designed backstepping based adaptive SMC perform better in terms of smaller tracking time, quick tip deflection suppression and lesser, smoother control efforts. Proposed trajectory strategy is validated on a two-link flexible manipulator in MATLAB simulation environment.

Original languageEnglish
Title of host publicationControl Instrumentation Systems - Proceedings of CISCON 2018
EditorsC. Shreesha, Ravindra D. Gudi
PublisherSpringer Verlag
Pages43-58
Number of pages16
ISBN (Print)9789811394188
DOIs
Publication statusPublished - 01-01-2020
Externally publishedYes
Event15th Control Instrumentation Systems Conference, CISCON 2018 - Manipal, India
Duration: 26-10-201827-10-2018

Publication series

NameLecture Notes in Electrical Engineering
Volume581
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Conference

Conference15th Control Instrumentation Systems Conference, CISCON 2018
CountryIndia
CityManipal
Period26-10-1827-10-18

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering

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    Lochan, K., Singh, J. P., & Roy, B. K. (2020). Tracking control and deflection suppression of an AMM modelled TLFM using backstepping based adaptive SMC technique. In C. Shreesha, & R. D. Gudi (Eds.), Control Instrumentation Systems - Proceedings of CISCON 2018 (pp. 43-58). (Lecture Notes in Electrical Engineering; Vol. 581). Springer Verlag. https://doi.org/10.1007/978-981-13-9419-5_4