Advertisement

Fractional-Order Adaptive Sliding Mode Control for a Two-Link Flexible Manipulator

  • Sibbir AhmedEmail author
  • Kshetrimayum Lochan
  • Binoy Krishna Roy
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 757)

Abstract

This work addresses some robust control strategies for controlling the tip position tracking of a flexible two-link robotic arm manipulator with the consideration that the system is having very less friction and less mechanical vibration at the joints. The flexible two-link flexible manipulator is modelled using Euler-Lagrangian mechanics. Further, a fractional-order modelling is also done for the same system. The parameters of the system are taken from a real-time system. The sliding mode control strategy which is one of the robust control techniques can be made more robust using adaptive sliding mode and fractional-order adaptive sliding mode. The use of an adaptive sliding mode makes the tuning of the control parameters easier with a better response. The simulation results reveal that the adaptive sliding mode strategy is more robust in terms of changes in the initial conditions as well as disturbances to the system.

Keywords

Adaptive sliding mode control Fractional-order Sliding mode control Two-link flexible manipulator 

References

  1. 1.
    Tokhi, M.O., Azad, A.K. (eds.): Flexible Robot Manipulators: Modelling, Simulation and Control, vol. 68. Iet (2008)Google Scholar
  2. 2.
    Kumar, A., Pathak, P.M., Sukavanam, N.: Trajectory control of a two DOF rigid–flexible space robot by a virtual space vehicle. Rob. Autonomous Syst. 61(5), 473–482 (2013)CrossRefGoogle Scholar
  3. 3.
    Tumari, M.M., Ahmad, M.A., Saealal, M.S., Zawawi, M.A., Mohamed, Z., Yusop, N.M.: The direct strain feedback with PID control approach for a flexible manipulator: Experimental results. In 2011 11th International Conference on Control, Automation and Systems (ICCAS), pp. 7–12. IEEE (2011)Google Scholar
  4. 4.
    Zhang, Y.A., Mi, Y.L., Zhu, M., Lu, F.L.: August. Adaptive sliding mode control for two-link flexible manipulators with H/sub/spl infin//tracking performance. In: Machine Learning and Cybernetics, 2005. Proceedings of 2005 International Conference on, vol. 2, pp. 702–707. IEEE (2005)Google Scholar
  5. 5.
    Yang, T.C., Yang, J.C., Kudva, P.: Adaptive control of a single-link flexible manipulator with unknown load. In: IEE Proceedings D (Control Theory and Applications), vol. 138, no. 2, pp. 153–159. IET Digital Library (1991)Google Scholar
  6. 6.
    Li, G., Khajepour, A.: Robust control of a hydraulically driven flexible arm using backstepping technique. J. Sound Vib. 280(3), 759–775 (2005)MathSciNetCrossRefGoogle Scholar
  7. 7.
    Lochan, K., Suklabaidya, S., Roy, B.K.: Sliding mode and adaptive sliding mode control approaches of two link flexible manipulator. In: Proceedings of the 2015 Conference on Advances In Robotics, p. 58. ACM (2015)Google Scholar
  8. 8.
    Mujumdar, A., Tamhane, B. Kurode, S.: Fractional order modeling and control of a flexible manipulator using sliding modes. In: American Control Conference (ACC), 2014, pp. 2011–2016. IEEE (2014)Google Scholar
  9. 9.
    Huh, S.H., Bien, Z.: Robust sliding mode control of a robot manipulator based on variable structure-model reference adaptive control approach. IET Control Theory Appl. 1(5), 1355–1363 (2007)MathSciNetCrossRefGoogle Scholar
  10. 10.
    Rana, D.S.: Mathematical modelling, stability analysis and control of flexible double link robotic manipulator: a simulation approach. Math. Modell. 3(4) (2013)CrossRefGoogle Scholar
  11. 11.
    Mujumdar, A., Kurode, S.: Fractional order sliding mode control for single link flexible manipulator. Multi system conference MSC’13, Hyderabad (2013)Google Scholar

Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Sibbir Ahmed
    • 1
    Email author
  • Kshetrimayum Lochan
    • 1
  • Binoy Krishna Roy
    • 1
  1. 1.National Institute of Technology SilcharSilcharIndia

Personalised recommendations