Flexible joint robotic manipulator: Modeling and design of robust control law

Aziz, Hafiz Muhammad Wahaj; Iqbal, Jamshed

Abstract

This paper presents modeling and sophisticated control of a single Degree Of Freedom (DOF) flexible robotic arm. The derived model is based on Euler-Lagrange approach while the first and second order (super twisting) Sliding Mode Control (SMC) is proposed as a non-linear control strategy. The control laws are subjected to various test inputs including step and sinusoids to demonstrate their tracking efficiency by observing transient and steady state behaviours. Both orders of SMC are then compared to characterize the control performance in terms of robustness, handling external disturbances and chattering. Results dictate that the super twisting SMC is more accurate and robust against the external noise and chattering phenomena compared to the first order SMC.

Citation

Aziz, H. M. W., & Iqbal, J. (2016). Flexible joint robotic manipulator: Modeling and design of robust control law. In 2016 2nd International Conference on Robotics and Artificial Intelligence (ICRAI) (63-68). https://doi.org/10.1109/ICRAI.2016.7791230

• Conference Name: 2nd International Conference on Robotics and Artificial Intelligence, ICRAI 2016
• Conference Location: Rawalpindi, Pakistan
• Start Date: Nov 1, 2016
• End Date: Nov 2, 2016
• Acceptance Date: Oct 1, 2016
• Publication Date: Dec 22, 2016
• Deposit Date: Sep 14, 2021
• Publicly Available Date: Mar 9, 2022
• Publisher: Institute of Electrical and Electronics Engineers
• Pages: 63-68
• Book Title: 2016 2nd International Conference on Robotics and Artificial Intelligence (ICRAI)
• ISBN: 9781509040599
• DOI: https://doi.org/10.1109/ICRAI.2016.7791230
• Public URL: https://hull-repository.worktribe.com/output/3797039