کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
4948686 1439845 2017 17 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Robust tip trajectory synchronisation between assumed modes modelled two-link flexible manipulators using second-order PID terminal SMC
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Robust tip trajectory synchronisation between assumed modes modelled two-link flexible manipulators using second-order PID terminal SMC
چکیده انگلیسی


- The paper addresses the tip trajectory synchronisation of two identical AMM TLFMs.
- Such synchronisation is not seen in the literature.
- A second order PID terminal SMC (SO-PID-TMSC) control technique is proposed.
- The robustness of the controller is evaluated in the presence of payload variation.
- Robustness is also evaluated with the model parametric uncertainties upto ±30%.
- The performances of the controller is compared with the normal second-order SMC.
- The proposed controller is better in terms of error, low and smoother control energy.

Synchronisation/cooperation between manipulators is a specified emerging application in the field of robotics. However, most of the synchronisation works are reported using rigid manipulators. Flexible manipulators have their advantages over rigid manipulators and hence, the applications of flexible manipulators are more desirable. This paper takes an attempt for the robust tip trajectory synchronisation between assumed modes method modelled two-link flexible manipulators. The synchronisation is achieved between a controlled master and an identical slave manipulators. A conventional SMC is designed for the tip trajectory tracking control of the master manipulator. A second order PID terminal SMC is proposed for the synchronisation between the controlled master and an identical slave manipulators along with fast suppression of tip deflection. This control technique provides chattering free global stability of the error dynamics. The structure of the proposed controller differs from the available second order terminal SMC by enabling chattering free complete stability having no singularity problem for the synchronisation of the flexible manipulators. This superiority of the proposed technique is validated using MATLAB simulation in the presence of variable payloads and ±5% to ±30% variation in the nominal value of the parameters. The effectiveness of the proposed control technique is compared with the normal second-order SMC, and is found better in terms of low tracking error and smoother control efforts.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 97, November 2017, Pages 108-124
نویسندگان
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