Abstract
Robotic systems are playing a very essential role in the field of small as well as large industrial applications. In this paper, the design of first and second order sliding mode controllers are proposed to perform the desired tasks. To illustrate this technique a single link flexible robotic arm is used. One of the most powerful algorithm for designing controllers is the sliding mode controller (SMC) with the drawback of chattering which degrades its performance. So to avoid it and to track our desired trajectory twisted algorithms is used. Lyapunov stability criteria was applied for the verification of controllers' stability. Finally all the two algorithms were compared using simulations.
| Original language | English |
|---|---|
| Title of host publication | 6th International Conference on Industrial Engineering and Operations Management in Kuala Lumpur, IEOM 2016 |
| Publisher | IEOM Society |
| Pages | 3060-3065 |
| Number of pages | 6 |
| ISBN (Print) | 9780985549749 |
| State | Published - 2016 |
| Externally published | Yes |
Publication series
| Name | Proceedings of the International Conference on Industrial Engineering and Operations Management |
|---|---|
| Volume | 8-10 March 2016 |
| ISSN (Electronic) | 2169-8767 |
Bibliographical note
Publisher Copyright:© IEOM Society International.
Keywords
- Chattering
- Controller
- Flexible joint
- Robotics
- Single link
- Sliding mode
- Twisted mode controller
ASJC Scopus subject areas
- Strategy and Management
- Management Science and Operations Research
- Control and Systems Engineering
- Industrial and Manufacturing Engineering
