1st Edition

Robust Control Algorithms for Two-link Flexible Manipulators

    236 Pages 17 Color & 115 B/W Illustrations
    by CRC Press

    Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are reviewed comprehensively. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.

    Introduction. Survey on a Two-link Flexible Manipulator. Dynamic Modelling of a Two-link Flexible Manipulator. Design of Sliding Mode Controllers for a TLFM. Design of Controllers for a TLFM using the Singular Perturbation Technique. Generalised Projective Synchronisation between Lumped Parameter Modelled TLFMs. Synchronisation between Assumed Modes Modelled TLFMs. Projective Synchronisation between Assumed Modes and Lumped Parameter Modelled TLFMs. Conclusions and Future Work. Index.


    Kshetrimayum Lochan is a research fellow under the Department of Mechanical and Nuclear Engineering, Khalifa University Center for Robotics and Autonomous Systems (KUCARS), UAE. Her research interests include Controlling for Flexible Manipulators, Nonlinear Control, and Autonomous Robots in complex environments of underwater and drylands.

    Binoy Krishna Roy is a Professor in the Department of Electrical Engineering and Dean (Academics) at the National Institute of Technology, Silchar. Prof. Roy is a Fellow of the Institution of Engineers (India), in The Institution of Electronics and Telecommunication Engineers, and a Senior Member of IEEE and ISA. His expertise includes Control Systems, Fault Detection and Diagnosis, Industrial Automation, Process Control, Nonlinear Control and Dynamics, and Underwater Robotics.

    Bidyadhar Subudhi is the Director of the National Institute of Technology Warangal (NITW) India, on deputation from the Indian Institute of Technology (IIT) Goa. He is a Professor in the School of Electrical Sciences at IIT Goa. His research interests include Flexible Manipulators, Machine Learning and Adaptive Systems, Marine Robotics, and Microgrid Systems.

    Santhakumar Mohan is an adjunct professor at the Department of Engineering Design at IIT Madras and a Professor at the IIT Palakkad Technology Ihub Foundation (IPTIF). His active research areas include Service and Field Robots (specifically, the design & motion control of underwater and wheeled mobile robots), Parallel Robotic Platforms, and Assistive and Rehabilitation Robots.