Controllers using Discrete Sliding Mode Control for 1 & 2-link FMs with Output Samples

Abstract

The main highlight of this paper being, the design & development of Controllers using Discrete Sliding Mode Control for 1 & 2-link FMs with output samples is being presented for controlling a 2-link FRM considering 2 DOF in 3 Dimensional Euclidean space along with the simulation results. A 2-link FRM with 2-DOF is being considered and the base motor is attached to the single flexible link & the other link is fixed to the extreme end of the 1st link to which the shoulder motor is connected and the entire set-up is a single structure one and 2 motors are being used for actuation purposes & is being controlled / regulated using the developed sliding mode controller, i.e., the dual links are rotating with respect to the base, further the link-2 is rotating with respect to the shoulder axes & the joint axes of the two are parallel and perpendicular w.r.t. the robot work surface. Hence, the entire system can be called as a planar mechanism, i.e., the 2 links are moving parallel to the plane of the work surface (x – y plane). There are 2 joints, viz., base joint & the shoulder joint along with the end-effector being the tip of the 2-link manipulator. The small errors that occurs in the control signal u is due to the changes during the set-point. Simulink model is being developed in the Simulink-Matlab environment & after running the model, the simulation results observed, the obtained results shows the efficacy of the methodology developed.