Robust Control Algorithms for Two-Link Flexible Manipulators

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. 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.

Various synchronisation techniques such as generalised projective synchronisation, projective synchronisation with scaled and complete projections are considered. The synchronisation between the lumped parameter and assumed modes method are used for the master and slave. Various types of control techniques are also used such as conventional sliding mode control, modified sliding mode control, state feedback controller, adaptive global sliding mode control, adaptive time-varying super-twisting sliding mode control, etc. Also, singular perturbations are used for the segregation of modelling in terms of slow and fast subsystems using singular perturbations.