TY - GEN
T1 - Comparison of chattering in single link flexible manipulator with sliding mode controllers
AU - Lochan, Kshetrimayum
AU - Suklabaidya, Surajit
AU - Roy, B. K.
PY - 2016/7/12
Y1 - 2016/7/12
N2 - A comparative analysis on chattering based on Sliding Mode Controller (SMC) techniques for a single link flexible manipulator is presented in this paper. The proposed controller techniques include i) normal-SMC ii) Quasi-SMC iii) Asymptotic-SMC. These controllers are used in controlling the tip position as well as the tip deflection of the system. Lyapunov stability theory is used to achieve the stability of sliding surfaces. Since, SMC is insensitive to disturbances, it helps in achieving the desired position as well as in controlling the deflection. The comparative study of chattering by using normal-SMC, Quasi-SMC and Asymptotic-SMC for flexible manipulator is a major contribution in this paper. Simulation results of the proposed SMC techniques are used to compare the chattering along with tip position and tip deflection performances.
AB - A comparative analysis on chattering based on Sliding Mode Controller (SMC) techniques for a single link flexible manipulator is presented in this paper. The proposed controller techniques include i) normal-SMC ii) Quasi-SMC iii) Asymptotic-SMC. These controllers are used in controlling the tip position as well as the tip deflection of the system. Lyapunov stability theory is used to achieve the stability of sliding surfaces. Since, SMC is insensitive to disturbances, it helps in achieving the desired position as well as in controlling the deflection. The comparative study of chattering by using normal-SMC, Quasi-SMC and Asymptotic-SMC for flexible manipulator is a major contribution in this paper. Simulation results of the proposed SMC techniques are used to compare the chattering along with tip position and tip deflection performances.
UR - http://www.scopus.com/inward/record.url?scp=84981500064&partnerID=8YFLogxK
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U2 - 10.1109/EPETSG.2015.7510106
DO - 10.1109/EPETSG.2015.7510106
M3 - Conference contribution
AN - SCOPUS:84981500064
T3 - 2015 International Conference on Energy, Power and Environment: Towards Sustainable Growth, ICEPE 2015
BT - 2015 International Conference on Energy, Power and Environment
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 International Conference on Energy, Power and Environment, ICEPE 2015
Y2 - 12 June 2015 through 13 June 2015
ER -
