Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation

Abstract

This article addresses the design and implementation of robust nonlinear control approaches to obtain the desired trajectory tracking of a flexible joint manipulator driven with a direct-current (DC) geared motor. The nonlinear control schemes have been designed and implemented such that they locally stabilize the closed loop system considering all the states as bounded. The system model has been derived using Euler-Lagrange approach. Two different approaches based on sliding mode control (SMC), i.e. the traditional SMC and integral SMC, have been considered in the present study. To experimentally validate the proposed control laws, an electrically-driven single-link flexible manipulator has been designed and fabricated. The designed control algorithms have been developed and experimentally validated on the custom-developed platform. The results obtained both from MATLAB/Simulink and the experimental platform verify the performance of the proposed control algorithms.