NDLI: A new sliding mode control of manipulator handling a flexible payload based on distributed parameter system

Content Provider	IEEE Xplore Digital Library
Author	Liu Shuyang Liu Keping Li Yuanchun
Copyright Year	2012
Description	Author affiliation: Department of Control Engineering, Changchun University of Technology, Changchun 130012 (Liu Keping) \|\| State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022 (Liu Shuyang; Li Yuanchun)
Abstract	In this paper, modeling and control of manipulator handling a flexible payload is considered under the parameter uncertainty and the unknown disturbance. A new sliding mode controller is proposed for manipulator handling a flexible payload based on a distributed-parameter dynamic model and hence is free from the so-called spillover instability, then extended to an adaptive scheme to cope with the upper bounds of the uncertainties were unknown. The controllers are designed to realize system trajectory tracking performance and suppress the elastic vibration. The sliding surface is designed as coupling the joint angle and angular velocity of link, as well as root strain and shear force of flexible payload. Stability of the system is proved by using Lyapunov theory. Numerical simulations result provided to verify the effectiveness of the approach presented.
Starting Page	3212
Ending Page	3217
File Size	255169
Page Count	6
File Format	PDF
ISBN	9781467325813
ISSN	21612927
e-ISBN	9789881563811
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	Trajectory tracking Coupled sliding surface Trajectory Mathematical model Flexible payload Distributed parameter model Manipulator dynamics Equations Payloads
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Distributed parameter model and cooperative control of manipulators handling a flexible payload

Adaptive sliding mode control with filtered signals of two manipulators handling a flexible payload

Backstepping Control of Manipulators Handling a Flexible Payload Based on Distributed Parameter

An energy-based position control and asymptotic stability analysis for manipulator handling a flexible payload

Trajectory tracking for underwater manipulator using sliding mode control

Trajectory tracking control based on global fast terminal sliding mode for 2-DOF manipulator

The trajectory tracking of space flexible manipulator with large payloads based on optimal control

Adaptive rigid control of a rigid manipulator handling a flexible payload

Modeling and control of two manipulators handling a flexible payload based on singular perturbation

A new sliding mode control of manipulator handling a flexible payload based on distributed parameter system

Similar Documents

Distributed parameter model and cooperative control of manipulators handling a flexible payload

Adaptive sliding mode control with filtered signals of two manipulators handling a flexible payload

Backstepping Control of Manipulators Handling a Flexible Payload Based on Distributed Parameter

An energy-based position control and asymptotic stability analysis for manipulator handling a flexible payload

Trajectory tracking for underwater manipulator using sliding mode control

Trajectory tracking control based on global fast terminal sliding mode for 2-DOF manipulator

The trajectory tracking of space flexible manipulator with large payloads based on optimal control

Adaptive rigid control of a rigid manipulator handling a flexible payload

Modeling and control of two manipulators handling a flexible payload based on singular perturbation

A new sliding mode control of manipulator handling a flexible payload based on distributed parameter system