Robust Control Algorithms for Flexible Manipulators - Lochan, Kshetrimayum; Roy, Binoy Krishna; Subudhi, Bidyadhar; - Prospero Internet Bookshop
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Robust Control Algorithms for Flexible Manipulators

 
Edition number: 1
Publisher: CRC Press
Date of Publication:
 
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Short description:

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 comprehensively reviewed.

Long description:

Many 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.

Table of Contents:

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.