Robust Control Algorithms for Two-link Flexible Manipulators

✍ Scribed by Kshetrimayum Lochan, Binoy Krishna Roy, Bidyadhar Subudhi, Santhakumar Mohan

• Publisher: CRC Press
• Year: 2025
• Tongue: English
• Leaves: 236
• Category: Library

✦ Table of Contents

Cover
Title Page
Copyright Page
Dedication
Preface
Table of Contents
List of Figures
List of Tables
Abbreviations
1. Introduction
1.1 Background
1.2 Motivation of the present book
1.3 Objectives of the book
1.4 Organisation of the book
References
2. Survey on a Two-link Flexible Manipulator
2.1 Review on various control techniques of a TLFM
2.2 Singular perturbation based controllers for TLFMs
2.3 Tracking controllers of TLFMs for a desired path as a chaotic signal
2.4 Synchronisation control algorithms of TLFMs
2.5 Chapter summary
References
3. Dynamic Modelling of a Two-link Flexible Manipulator
3.1 Introduction
3.2 Dynamic model of a two-link flexible manipulator
3.2.1 Lumped parameters method
3.2.2 Assumed modes method
3.3 Results and discussion
3.3.1 Validation of the AMM model under free and forced conditions
3.4 Chapter summary
References
4. Design of Sliding Mode Controllers for a TLFM
4.1 Introduction
4.2 Chapter objectives
4.3 Structure of a sliding mode controller
4.4 Design of a conventional sliding mode control of a two-link flexible manipulator
4.5 Design of a second order sliding mode control of a two-link flexible manipulator
4.6 Results and discussion
4.6.1 Results of SO-SMC
4.6.2 Comparison of SO-SMC and SMC
4.6.3 Comparison of SO-SMC with nominal payload and SO-SMC with 0.3 kg payload along with external disturbance
4.7 Chapter summary
References
5. Design of Controllers for a TLFM using the Singular Perturbation Technique
5.1 Introduction
5.2 Chapter objectives
5.3 Model decomposition by the singular perturbation technique
5.4 Design of an LMI based SMC for the slow subsystem and LMI based state feedback controller (SFC) for the fast subsystem
5.4.1 Design of a LMI based SMC for the slow subsystem
5.4.2 Design of an LMI based SFC for the fast subsystem
5.5 Design of an adaptive SMC for the slow subsystem and backstepping controller of the fast subsystem
5.5.1 Design of an adaptive SMC for the slow subsystem
5.5.2 Design of a backstepping controller of the fast subsystem
5.6 Results and discussion
5.6.1 Results for the designed LMI based SMC for the slow subsystem and LMI based SFC for the fast subsystem
5.6.2 Hidden chaotic signals as the desired trajectories
5.6.3 Results for the designed adaptive SMC for the slow subsystem and backstepping controller for the fast subsystem
5.6.4 Results with a nominal payload (0.145 kg)
5.6.5 Results with a 0.3 kg payload
5.6.6 Comparison of the proposed composite controller (discussed in Section 5.5) with the controller referred to in [14]
5.7 Chapter summary
References
6. Generalised Projective Synchronisation between Lumped Parameter Modelled TLFMs
6.1 Introduction
6.2 Chapter objectives
6.3 Design of an equivalent SMC for the master manipulator
6.4 Design of a modified adaptive equivalent SMC for synchronisation between the controlled master manipulator and slave manipulators
6.4.1 Generalised projective synchronisation between nonidentical controlled master and k slave manipulators
6.5 Results and discussion
6.5.1 Trajectory tracking of an exponentially varying signal by the master manipulator
6.5.2 Synchronisation of the controlled master and k slave manipulators
6.5.2.1 Scaling factor β1=β2=1 (complete synchronisation)
6.5.2.2 Scaling factor β1=0.5, β2=0.25
6.5.3 Trajectory tracking of a chaotic signal by the master manipulator
6.5.4 Synchronisation of master and k slave manipulators when desired trajectory θd is a chaotic signal and scaling factor β1=0.5, β2=0.25
6.5.5 Synchronisation in the presence of payload of 0.45 kg for the chaotic desired trajectory
6.5.6 Comparison of performances among different variants of SMCs
6.6 Chapter summary
References
7. Synchronisation between Assumed Modes Modelled TLFMs
7.1 Introduction
7.2 Chapter objectives
7.3 Design of a conventional SMC for tracking control of the master manipulator
7.4 Design of a second order PID terminal SMC for the synchronisation between the controlled master and slave manipulators
7.5 Results and discussion
7.5.1 Tip trajectory tracking of the controlled master manipulator in the presence of parameters uncertainty
7.5.2 Synchronisation of the controlled master (upto +30% parameters uncertainty) and slave (upto -30% parameters uncertainty) manipulators using SO-PID-TSMC
7.5.3 Synchronisation of the controlled master TLFM having 0.145 kg payload and the slave having 0.3 kg payload TLFM
7.5.4 Comparison between the proposed SO-PID-TSMC and the SO-SMC
7.6 Chapter summary
References
8. Projective Synchronisation between Assumed Modes and Lumped Parameter Modelled TLFMs
8.1 Introduction
8.2 Chapter objectives
8.3 Tracking control of a master manipulator using global SMC
8.4 Projective synchronisation of the controlled master and three slave manipulators
8.4.1 Projective synchronisation
8.4.2 Adaptive time-varying super-twisting global SMC
8.5 Results and discussion
8.5.1 Results on trajectory tracking of the master manipulator
8.5.2 Results on projective synchronisation
8.5.2.1 Comparison of the proposed controller with the controller of [20]
8.6 Chapter summary
References
9. Conclusions and Future Work
9.1 Summary of the book work
9.2 Book contributions
9.3 Suggestions for future work
Index