A fast terminal sliding mode control of two-link flexible manipulators for trajectory tracking

SUMMARY There is a high demand for developing effective controllers to perform fast and accurate operations for either flexible link manipulators (FLMs) or rigid link manipulators (RLMs). Thus, this paper is beneficial for such vast field, and it is also advantageous and indispensable for researchers who are interested in robotics to have sufficient knowledge about various controllers of FLMs and RLMs as the controllers’ concepts are elaborated in detail. The paper concentrates in critically reviewing classical controllers, intelligent controllers, robust controllers, and hybrid controllers for both FLMs and RLMs. The advantages and disadvantages of the aforementioned control methods are summarized in this paper; it also has a detailed comparison for the controllers in terms of the design difficulty, performance, and the suitability for controlling FLMs or RLMs.

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“…81 Another non-singular terminal SMC was discussed in ref. [82]. A fractional order SMC was also designed in refs.…”

Section: Sliding Mode Controllersmentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

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“…Yang and Tan (2018) designed a sliding mode control for joint position control and vibration suppression of a single-link flexible manipulator by using an adaptive neural approximator to compensate for the modeling uncertainties and external disturbances. Si et al (2017) proposed a fast non-singular terminal sliding mode control for trajectory tracking of the two-link flexible manipulators with payload and external disturbances. Backstepping control based on a continuous-time extended state observer and a sampled-data extended state observer was proposed by Sahu and Patra (2016) and Sahu et al (2019b), respectively, to solve tip tracking control problem of two-link flexible manipulator.…”

Section: Model-free Control Techniquesmentioning

confidence: 99%

“…,Moh. Khairudin (2008),Abe (2009),Celentano and Coppola (2011), Ouyang et al (2017), Ouyang et al (2017), Reddy and Jacob (2017), Meng et al (2018), Sun et al (2018), Badfar and Abdollahi (2019), Lochan et al (2019), Qiu et al (2019), Qiu and Zhang (2019), Saeed et al (2019), Pradhan and Subudhi (2020), and Boucetta et al (2020) used the Lagrange formulation for obtaining the mathematical model of the FLMs with AMM.Other recent studies using the Lagrange method for deriving equations of motion of the FLMs includes, but are not limited to,Singh and Rajendran (2016),Si et al (2017),Dong et al (2019),Mehria and Foruzantabarb (2019),Singla and Singh (2019), andAgrawal et al (2020).…”

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confidence: 99%

“…trajectory tracking control(Si et al, 2017;Huan and Xian, 2017; Lochan et al, 2020) (e) Vibration control(Reddy and Jacob, 2017) (f) Motion control(Wang et al, 2017;Zhang and Yu, 2001;Tian et al, 2002) (g) Force control(Rigatos and Busawon, 2018;Bazaei and Moallem, 2010) (h) Hybrid control (position and force(Matsuno and Yamamoto, 1993;Wang et al, 2020), position and vibration(Singh and Ohri, 2018), trajectory tracking and vibration (Garcia-Perez et al, 2019), and other combinations)There are various control schemes reported in the literature, depending on the control problems. Jing et al (2019) presented a state-of-the-art review on kinematic analysis and dynamic stable control of space flexible manipulators and pointed out existing problems and suggestions on dynamic stable control.…”

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confidence: 99%

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Review on Modeling and Control of Flexible Link Manipulators

Subedi¹,

Tyapin²,

Hovland³

2020

MIC

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This paper presents a review of dynamic modeling techniques and various control schemes to control flexible link manipulators (FLMs) that were studied in recent literature. The advantages and complexities associated with the FLMs are discussed briefly. A survey of the reported studies is carried out based on the method used for modeling link flexibility and obtaining equations of motion of the FLMs. The control techniques are reviewed by classifying them into two main categories: model-based and model-free control schemes. The merits and limitations of different modeling and control methods are highlighted.

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