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Addressing Model Uncertainties and External Disturbances in Optimal Robust Control for Vibration Reduction in a Flexible Link Manipulator

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Title Addressing Model Uncertainties and External Disturbances in Optimal Robust Control for Vibration Reduction in a Flexible Link Manipulator
 
Creator Thakur, Sanjay
Barai, Ranjit Kumar
 
Subject External disturbances
Matching condition
Payload
Sliding mode controller
Vibration
 
Description 700-710
A novel Optimal Robust Controller (ORC) for reducing vibration in a flexible link manipulator has been designed in this
work. Compared to stiff link manipulators, flexible link manipulators have advantages, but they also have problems
including link vibration, model uncertainty, and outside disruptions. The ORC aims to address these challenges and improve
the positioning of the flexible links by reducing the link vibrations. Using the Assumed Mode Method (AMM), the dynamic
model of a two-link flexible manipulator has been developed in order to create the ORC. With two mode shapes taken into
consideration for each link, the deflection of the links has been modelled using mode shapes. The ORC has been designed to
achieve robust performance in vibration reduction, even in the presence of unmatched model uncertainty. Proof of the
matching condition of the uncertainty has been given, and the closed-loop stability of the resulting system has been
established. The value of the uncertain parameter has been purposefully changed to illustrate the robustness of the created
controller. For comparison purposes, a well-known reliable controller called the Sliding Mode Controller (SMC) has also
been developed. The performance of the proposed ORC has been compared with that of the SMC in the simulation section,
and the ORC is determined to be more effective at minimizing vibration.
 
Date 2023-07-06T05:04:16Z
2023-07-06T05:04:16Z
2023-07
 
Type Article
 
Identifier 0022-4456 (Print); 0975-1084 (Online)
http://nopr.niscpr.res.in/handle/123456789/62274
https://doi.org/10.56042/jsir.v82i07.1844
 
Language en
 
Publisher NIScPR-CSIR,India
 
Source JSIR Vol.82(07) [July 2023]