DOI: 10.14704/nq.2022.20.11.NQ66260

Vibration Reduction of the Flexible Manipulator using Sliding Mode Controller

Sanjay Thakur, Ranjit Kumar Barai

Abstract

For the purpose of vibration reduction of a two-link flexible manipulator (TLFM) a popular robust controller Sliding mode controller (SMC) has been developed in this study. Very traditional approach has been adopted for the design of SMC. Utilizing the lumped parameter method, the mathematical equation for the two-link flexible manipulator has been developed. Closed loop stability of system has been established using Lyapunov approach. The efficiency of the suggested controller has been demonstrated in the simulation section.

Keywords

For the purpose of vibration reduction of a two-link flexible manipulator (TLFM) a popular robust controller Sliding mode controller (SMC) has been developed in this study

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