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

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

4 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 languageEnglish
Title of host publicationSoft Computing Applications - Proceedings of the 7th International Workshop Soft Computing Applications, SOFA 2016
EditorsValentina Emilia Balas, Marius Mircea Balas, Lakhmi C. Jain
PublisherSpringer Verlag
Pages365-377
Number of pages13
ISBN (Print)9783319625232
DOIs
Publication statusPublished - 2018
Event7th International Workshop on Soft Computing Applications, SOFA 2016 - Arad, Romania
Duration: 24-08-201626-08-2016

Publication series

NameAdvances in Intelligent Systems and Computing
Volume634
ISSN (Print)2194-5357

Conference

Conference7th International Workshop on Soft Computing Applications, SOFA 2016
CountryRomania
CityArad
Period24-08-1626-08-16

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science(all)

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  • 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