Abstract
Two-link flexible manipulator is a manipulator robot which at least one of its arms is made of lightweight material and not rigid. Flexible robot manipulator has some advantages over the rigid robot manipulator, such as lighter, requires less power and costs, and to result greater payload. However, suitable control algorithm to maintain the two-link flexible robot manipulator in accurate positioning is very challenging. In this study, sliding mode control (SMC) was employed as robust control algorithm due to its insensitivity on the system parameter variations and the presence of disturbances when the system states are sliding on a sliding surface. SMC algorithm was combined with linear matrix inequality (LMI), which aims to reduce the effects of chattering coming from the oscillation of the state during sliding on the sliding surface. Stability of the control algorithm is guaranteed by Lyapunov function candidate. Based on simulation works, SMC based LMI resulted in better performance improvements despite the disturbances with significant chattering reduction. This was evident from the decline of the sum of squared tracking error (SSTE) and the sum of squared of control input (SSCI) indexes respectively 25.4% and 19.4%.
Highlights
Flexible robot manipulator is a robot manipulator, in which at least one of the links is made of a lightweight and flexible material
In this study, sliding mode control (SMC) was employed as robust control algorithm due to its insensitivity on the system parameter variations and the presence of disturbances when the system states are sliding on a sliding surface
SMC algorithm was combined with linear matrix inequality (LMI), which aims to reduce the effects of chattering coming from the oscillation of the state during sliding on the sliding surface
Summary
Flexible robot manipulator is a robot manipulator, in which at least one of the links is made of a lightweight and flexible material. Flexible robot manipulator has several advantages than robot manipulator with rigid link. To design a suitable control method for two-link flexible manipulator to maintain its accurate position is never easy. Other problems should be considered in the flexible manipulator are coupling problem in second link and vibration in between the two links [2]. Such that, an accurate model and efficient control method for the two-link flexible manipulator system must be developed
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