Abstract
In a flexible joint robotic manipulator, parametric variations and external disturbances result in mismatch uncertainties thus posing a great challenge in terms of manipulator’s control. This article investigates non-linear control algorithms for desired trajectory tracking of a flexible manipulator subjected to mismatch perturbations. The manipulator’s dynamics is derived based on Euler-Lagrange approach followed by the design of nonlinear control laws. The traditional Sliding Mode Control and Integral Sliding Mode Control failed to demonstrate adequate performance due to complex system dynamics. Disturbance Observer-based Sliding Mode Control has been thoroughly examined by defining a novel sliding manifold. The aforementioned control laws are designed and simulated in MATLAB/Simulink environment to characterize the control performance. Results demonstrated that the proposed Disturbance Observer-based Sliding Mode Control scheme over-performed on Sliding Mode Control variants and had three prominent features: robustness against mismatch uncertainty, improved chattering behaviour and ability to sustain nominal control performance of the system.
Highlights
In the recent decade, the desired trajectory tracking problem of flexible joint robotic manipulator got considerable attention in the scientific community
Results demonstrated that the proposed Disturbance Observer-based Sliding Mode Control scheme over-performed on Sliding Mode Control variants and had three prominent features: robustness against mismatch uncertainty, improved chattering behaviour and ability to sustain nominal control performance of the system
Instigated by the literature, the Sliding Mode Control (SMC) based non-linear control approaches with Disturbance Observer (DO) are presented in this article for desired trajectory tracking of the manipulator with the inclusion of actuator dynamics as well as mismatch perturbations
Summary
The desired trajectory tracking problem of flexible joint robotic manipulator got considerable attention in the scientific community. This article investigates non-linear control algorithms for desired trajectory tracking of a flexible manipulator subjected to mismatch perturbations. Sliding Mode Control (SMC) based adaptive law for a flexible joint manipulator with parametric uncertainty is presented in [6].
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