TY - GEN
T1 - Joint angle trajectory tracking and vibration control of a two-link flexible link manipulator (TLFM) in the presence of unmatched disturbances
AU - Lochan, Kshetrimayum
AU - Singh, Jay Prakash
AU - Roy, Binoy Krishna
N1 - Publisher Copyright:
© Springer Nature Singapore Pte Ltd. 2020.
PY - 2020
Y1 - 2020
N2 - Underactuation and nonminimum phase properties of a robotic two-link flexible manipulator (TLFM) have attracted many researchers to use various types of control techniques for its desired outcome. The most focused problem of a two-link flexible manipulator is the trajectory tracking and vibration control. It is seen, in the literature, that some research works have tackled the tracking and vibration control of TLFM in the presence of disturbances added in the position where torque is added. However, in this paper, using a disturbance observer and sliding mode control technique is designed to accomplish the link vibration and joint angle trajectory tracking control of a TLFM in the presence of unmatched disturbances. The unmatched disturbance is estimated with the help of a disturbance observer. The simulation results obtained using MATLAB confirm that the joint angle trajectory tracking and link vibration control of the considered TLFM are achieved successfully and the proposed technique works effectively.
AB - Underactuation and nonminimum phase properties of a robotic two-link flexible manipulator (TLFM) have attracted many researchers to use various types of control techniques for its desired outcome. The most focused problem of a two-link flexible manipulator is the trajectory tracking and vibration control. It is seen, in the literature, that some research works have tackled the tracking and vibration control of TLFM in the presence of disturbances added in the position where torque is added. However, in this paper, using a disturbance observer and sliding mode control technique is designed to accomplish the link vibration and joint angle trajectory tracking control of a TLFM in the presence of unmatched disturbances. The unmatched disturbance is estimated with the help of a disturbance observer. The simulation results obtained using MATLAB confirm that the joint angle trajectory tracking and link vibration control of the considered TLFM are achieved successfully and the proposed technique works effectively.
UR - https://www.scopus.com/pages/publications/85088746250
UR - https://www.scopus.com/pages/publications/85088746250#tab=citedBy
U2 - 10.1007/978-981-15-4676-1_21
DO - 10.1007/978-981-15-4676-1_21
M3 - Conference contribution
AN - SCOPUS:85088746250
SN - 9789811546754
T3 - Lecture Notes in Electrical Engineering
SP - 227
EP - 239
BT - Advances in Control Instrumentation Systems - Select Proceedings of CISCON 2019
A2 - George, V.I.
A2 - Roy, B.K.
PB - Springer Gabler
T2 - 16th Control Instrumentation System Conference, CISCON 2019
Y2 - 8 November 2019 through 9 November 2019
ER -