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.
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Ahmed, S., Lochan, K., Roy, B.K. (2019). Fractional-Order Adaptive Sliding Mode Control for a Two-Link Flexible Manipulator. In: Deb, D., Balas, V., Dey, R. (eds) Innovations in Infrastructure. Advances in Intelligent Systems and Computing, vol 757. Springer, Singapore. https://doi.org/10.1007/978-981-13-1966-2_4
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DOI: https://doi.org/10.1007/978-981-13-1966-2_4
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