Control of rotational base single link flexible manipulator using different SMC techniques for variable payloads

Surajit Suklabaidya; Kshetrimayum Lochan; B. K. Roy

doi:10.1109/EPETSG.2015.7510095

Control of rotational base single link flexible manipulator using different SMC techniques for variable payloads

Surajit Suklabaidya
, Kshetrimayum Lochan
, B. K. Roy

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

6 Citations (Scopus)

Abstract

In this paper two types of sliding mode control (SMC): normal sliding mode control (normal-SMC) and Quasi sliding mode control (Quasi-SMC) are used in controlling single-link rotational base flexible manipulator for three different payloads. The dynamic equations of the system are done by using Lumped parameter method. Quasi-SMC is used for chattering elimination which is present in the case of normal-SMC. Lyapunov stability theory is used to achieve the stability of sliding surface. Since, SMC is insensitive to parameter uncertainties and disturbances within some bounds; it helps in tracking the desired trajectories and controlling the dynamics. Tip deflection and hub angle are controlled using SMC with payload variation of 0.0Kg, 0.1Kg, and 0.5Kg. To demonstrate the results, MATLAB simulations are used for the proposed control approaches.

Original language	English
Title of host publication	2015 International Conference on Energy, Power and Environment
Subtitle of host publication	Towards Sustainable Growth, ICEPE 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781467365031
DOIs	https://doi.org/10.1109/EPETSG.2015.7510095
Publication status	Published - 12-07-2016
Event	2015 International Conference on Energy, Power and Environment, ICEPE 2015 - Shillong, Meghalaya, India Duration: 12-06-2015 → 13-06-2015

Publication series

Name	2015 International Conference on Energy, Power and Environment: Towards Sustainable Growth, ICEPE 2015

Conference

Conference	2015 International Conference on Energy, Power and Environment, ICEPE 2015
Country/Territory	India
City	Shillong, Meghalaya
Period	12-06-15 → 13-06-15

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

All Science Journal Classification (ASJC) codes

Renewable Energy, Sustainability and the Environment
Control and Optimization
Computer Networks and Communications
Energy Engineering and Power Technology

Access to Document

10.1109/EPETSG.2015.7510095

Cite this

Suklabaidya, S., Lochan, K., & Roy, B. K. (2016). Control of rotational base single link flexible manipulator using different SMC techniques for variable payloads. In 2015 International Conference on Energy, Power and Environment: Towards Sustainable Growth, ICEPE 2015 Article 7510095 (2015 International Conference on Energy, Power and Environment: Towards Sustainable Growth, ICEPE 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EPETSG.2015.7510095

Suklabaidya, Surajit ; Lochan, Kshetrimayum ; Roy, B. K. / Control of rotational base single link flexible manipulator using different SMC techniques for variable payloads. 2015 International Conference on Energy, Power and Environment: Towards Sustainable Growth, ICEPE 2015. Institute of Electrical and Electronics Engineers Inc., 2016. (2015 International Conference on Energy, Power and Environment: Towards Sustainable Growth, ICEPE 2015).

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title = "Control of rotational base single link flexible manipulator using different SMC techniques for variable payloads",

abstract = "In this paper two types of sliding mode control (SMC): normal sliding mode control (normal-SMC) and Quasi sliding mode control (Quasi-SMC) are used in controlling single-link rotational base flexible manipulator for three different payloads. The dynamic equations of the system are done by using Lumped parameter method. Quasi-SMC is used for chattering elimination which is present in the case of normal-SMC. Lyapunov stability theory is used to achieve the stability of sliding surface. Since, SMC is insensitive to parameter uncertainties and disturbances within some bounds; it helps in tracking the desired trajectories and controlling the dynamics. Tip deflection and hub angle are controlled using SMC with payload variation of 0.0Kg, 0.1Kg, and 0.5Kg. To demonstrate the results, MATLAB simulations are used for the proposed control approaches.",

author = "Surajit Suklabaidya and Kshetrimayum Lochan and Roy, \{B. K.\}",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 International Conference on Energy, Power and Environment, ICEPE 2015 ; Conference date: 12-06-2015 Through 13-06-2015",

year = "2016",

month = jul,

day = "12",

doi = "10.1109/EPETSG.2015.7510095",

language = "English",

series = "2015 International Conference on Energy, Power and Environment: Towards Sustainable Growth, ICEPE 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2015 International Conference on Energy, Power and Environment",

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Suklabaidya, S, Lochan, K & Roy, BK 2016, Control of rotational base single link flexible manipulator using different SMC techniques for variable payloads. in 2015 International Conference on Energy, Power and Environment: Towards Sustainable Growth, ICEPE 2015., 7510095, 2015 International Conference on Energy, Power and Environment: Towards Sustainable Growth, ICEPE 2015, Institute of Electrical and Electronics Engineers Inc., 2015 International Conference on Energy, Power and Environment, ICEPE 2015, Shillong, Meghalaya, India, 12-06-15. https://doi.org/10.1109/EPETSG.2015.7510095

Control of rotational base single link flexible manipulator using different SMC techniques for variable payloads. / Suklabaidya, Surajit; Lochan, Kshetrimayum; Roy, B. K.
2015 International Conference on Energy, Power and Environment: Towards Sustainable Growth, ICEPE 2015. Institute of Electrical and Electronics Engineers Inc., 2016. 7510095 (2015 International Conference on Energy, Power and Environment: Towards Sustainable Growth, ICEPE 2015).

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

TY - GEN

T1 - Control of rotational base single link flexible manipulator using different SMC techniques for variable payloads

AU - Suklabaidya, Surajit

AU - Lochan, Kshetrimayum

AU - Roy, B. K.

PY - 2016/7/12

Y1 - 2016/7/12

N2 - In this paper two types of sliding mode control (SMC): normal sliding mode control (normal-SMC) and Quasi sliding mode control (Quasi-SMC) are used in controlling single-link rotational base flexible manipulator for three different payloads. The dynamic equations of the system are done by using Lumped parameter method. Quasi-SMC is used for chattering elimination which is present in the case of normal-SMC. Lyapunov stability theory is used to achieve the stability of sliding surface. Since, SMC is insensitive to parameter uncertainties and disturbances within some bounds; it helps in tracking the desired trajectories and controlling the dynamics. Tip deflection and hub angle are controlled using SMC with payload variation of 0.0Kg, 0.1Kg, and 0.5Kg. To demonstrate the results, MATLAB simulations are used for the proposed control approaches.

AB - In this paper two types of sliding mode control (SMC): normal sliding mode control (normal-SMC) and Quasi sliding mode control (Quasi-SMC) are used in controlling single-link rotational base flexible manipulator for three different payloads. The dynamic equations of the system are done by using Lumped parameter method. Quasi-SMC is used for chattering elimination which is present in the case of normal-SMC. Lyapunov stability theory is used to achieve the stability of sliding surface. Since, SMC is insensitive to parameter uncertainties and disturbances within some bounds; it helps in tracking the desired trajectories and controlling the dynamics. Tip deflection and hub angle are controlled using SMC with payload variation of 0.0Kg, 0.1Kg, and 0.5Kg. To demonstrate the results, MATLAB simulations are used for the proposed control approaches.

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UR - https://www.scopus.com/pages/publications/84981505061#tab=citedBy

U2 - 10.1109/EPETSG.2015.7510095

DO - 10.1109/EPETSG.2015.7510095

M3 - Conference contribution

AN - SCOPUS:84981505061

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 -

Suklabaidya S, Lochan K, Roy BK. Control of rotational base single link flexible manipulator using different SMC techniques for variable payloads. In 2015 International Conference on Energy, Power and Environment: Towards Sustainable Growth, ICEPE 2015. Institute of Electrical and Electronics Engineers Inc. 2016. 7510095. (2015 International Conference on Energy, Power and Environment: Towards Sustainable Growth, ICEPE 2015). doi: 10.1109/EPETSG.2015.7510095

Control of rotational base single link flexible manipulator using different SMC techniques for variable payloads

Abstract

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UN SDGs

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