Title: Sliding mode control of flexible link manipulator using states and disturbance estimation

Authors: S. Kurode; Prashant Dixit

Addresses: Department of Electrical Engineering, College of Engineering Pune, Pune 411005, India ' Department of Electrical Engineering, College of Engineering Pune, Pune 411005, India

Abstract: This paper presents robust output feedback control for positioning a tip of flexible link manipulator (FLM). Sliding mode observer (SMO) is designed for an extended state system wherein disturbance is considered as an additional state. The SMO provides estimates of state and disturbance. The estimated disturbance is used to compensate the disturbance acting in the system by updating the control. The sliding mode control (SMC) is designed for position control of tip of FLM. The method is validated in both simulation and experiment.

Keywords: flexible link manipulators; flexible robots; FLM; sliding mode control; SMC; sliding mode observer; SMO; extended state system; disturbance estimation; state estimation; robot control; feedback control; robot positioning; tip positioning; simulation.

DOI: 10.1504/IJAMECHS.2013.055980

International Journal of Advanced Mechatronic Systems, 2013 Vol.5 No.2, pp.129 - 137

Received: 08 May 2021
Accepted: 12 May 2021

Published online: 23 Aug 2013 *

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