Tracking control with vibration suppression of a two-link flexible manipulator using singular perturbation with composite control design

Kshetrimayum Lochan; Rajeeb Dey; Binoy Krishna Roy; Bidyadhar Subudhi

doi:10.1007/978-3-319-62524-9_28

Tracking control with vibration suppression of a two-link flexible manipulator using singular perturbation with composite control design

Kshetrimayum Lochan, Rajeeb Dey, Binoy Krishna Roy, Bidyadhar Subudhi

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 chapter, the mathematical modelling of an assumed modes method modelled two-link flexible manipulator moving in a horizontal plane is derived using singular perturbation. The system dynamics is divided into slow subsystem and fast subsystem. Considering the separated dynamics, a composite controller is designed for tracking the desired joint angle and tip deflection suppression. A linear matrix inequality based sliding mode control (LMI-SMC) is proposed for the slow subsystem and linear matrix inequality based state feedback controller (LMI-SFC) is proposed for the fast subsystem. Simulation results validate the effectiveness of the proposed control technique.

Original language	English
Title of host publication	Soft Computing Applications - Proceedings of the 7th International Workshop Soft Computing Applications, SOFA 2016
Editors	Valentina Emilia Balas, Marius Mircea Balas, Lakhmi C. Jain
Publisher	Springer Verlag
Pages	365-377
Number of pages	13
ISBN (Print)	9783319625232
DOIs	https://doi.org/10.1007/978-3-319-62524-9_28
Publication status	Published - 2018
Event	7th International Workshop on Soft Computing Applications, SOFA 2016 - Arad, Romania Duration: 24-08-2016 → 26-08-2016

Publication series

Name	Advances in Intelligent Systems and Computing
Volume	634
ISSN (Print)	2194-5357

Conference

Conference	7th International Workshop on Soft Computing Applications, SOFA 2016
Country/Territory	Romania
City	Arad
Period	24-08-16 → 26-08-16

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Computer Science(all)

Access to Document

10.1007/978-3-319-62524-9_28

Cite this

Lochan, K., Dey, R., Roy, B. K., & Subudhi, B. (2018). Tracking control with vibration suppression of a two-link flexible manipulator using singular perturbation with composite control design. In V. E. Balas, M. M. Balas, & L. C. Jain (Eds.), Soft Computing Applications - Proceedings of the 7th International Workshop Soft Computing Applications, SOFA 2016 (pp. 365-377). (Advances in Intelligent Systems and Computing; Vol. 634). Springer Verlag. https://doi.org/10.1007/978-3-319-62524-9_28

Lochan, Kshetrimayum ; Dey, Rajeeb ; Roy, Binoy Krishna et al. / Tracking control with vibration suppression of a two-link flexible manipulator using singular perturbation with composite control design. Soft Computing Applications - Proceedings of the 7th International Workshop Soft Computing Applications, SOFA 2016. editor / Valentina Emilia Balas ; Marius Mircea Balas ; Lakhmi C. Jain. Springer Verlag, 2018. pp. 365-377 (Advances in Intelligent Systems and Computing).

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title = "Tracking control with vibration suppression of a two-link flexible manipulator using singular perturbation with composite control design",

abstract = "In this chapter, the mathematical modelling of an assumed modes method modelled two-link flexible manipulator moving in a horizontal plane is derived using singular perturbation. The system dynamics is divided into slow subsystem and fast subsystem. Considering the separated dynamics, a composite controller is designed for tracking the desired joint angle and tip deflection suppression. A linear matrix inequality based sliding mode control (LMI-SMC) is proposed for the slow subsystem and linear matrix inequality based state feedback controller (LMI-SFC) is proposed for the fast subsystem. Simulation results validate the effectiveness of the proposed control technique.",

author = "Kshetrimayum Lochan and Rajeeb Dey and Roy, {Binoy Krishna} and Bidyadhar Subudhi",

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booktitle = "Soft Computing Applications - Proceedings of the 7th International Workshop Soft Computing Applications, SOFA 2016",

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note = "7th International Workshop on Soft Computing Applications, SOFA 2016 ; Conference date: 24-08-2016 Through 26-08-2016",

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Lochan, K, Dey, R, Roy, BK & Subudhi, B 2018, Tracking control with vibration suppression of a two-link flexible manipulator using singular perturbation with composite control design. in VE Balas, MM Balas & LC Jain (eds), Soft Computing Applications - Proceedings of the 7th International Workshop Soft Computing Applications, SOFA 2016. Advances in Intelligent Systems and Computing, vol. 634, Springer Verlag, pp. 365-377, 7th International Workshop on Soft Computing Applications, SOFA 2016, Arad, Romania, 24-08-16. https://doi.org/10.1007/978-3-319-62524-9_28

Tracking control with vibration suppression of a two-link flexible manipulator using singular perturbation with composite control design. / Lochan, Kshetrimayum; Dey, Rajeeb; Roy, Binoy Krishna et al.

Soft Computing Applications - Proceedings of the 7th International Workshop Soft Computing Applications, SOFA 2016. ed. / Valentina Emilia Balas; Marius Mircea Balas; Lakhmi C. Jain. Springer Verlag, 2018. p. 365-377 (Advances in Intelligent Systems and Computing; Vol. 634).

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

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AB - In this chapter, the mathematical modelling of an assumed modes method modelled two-link flexible manipulator moving in a horizontal plane is derived using singular perturbation. The system dynamics is divided into slow subsystem and fast subsystem. Considering the separated dynamics, a composite controller is designed for tracking the desired joint angle and tip deflection suppression. A linear matrix inequality based sliding mode control (LMI-SMC) is proposed for the slow subsystem and linear matrix inequality based state feedback controller (LMI-SFC) is proposed for the fast subsystem. Simulation results validate the effectiveness of the proposed control technique.

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Lochan K, Dey R, Roy BK, Subudhi B. Tracking control with vibration suppression of a two-link flexible manipulator using singular perturbation with composite control design. In Balas VE, Balas MM, Jain LC, editors, Soft Computing Applications - Proceedings of the 7th International Workshop Soft Computing Applications, SOFA 2016. Springer Verlag. 2018. p. 365-377. (Advances in Intelligent Systems and Computing). doi: 10.1007/978-3-319-62524-9_28

Tracking control with vibration suppression of a two-link flexible manipulator using singular perturbation with composite control design

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