NDLI: Fractional order modeling and control of a flexible manipulator using sliding modes

Content Provider	IEEE Xplore Digital Library
Author	Mujumdar, A. Tamhane, B. Kurode, S.
Copyright Year	2014
Description	Author affiliation: Dept. of Electr. Eng., CME, Pune, India (Mujumdar, A.) \|\| Dept. of Electr. Eng., Coll. of Eng., Pune, India (Tamhane, B.; Kurode, S.)
Abstract	The paper proposes design and implementation of fractional order sliding mode control (FOSMC) for a fractional order model of a single link flexible manipulator (SFLM). Novelty of the paper lies in modeling the plant with fractional order dynamics in non-commensurate order. This model is validated through experimentation. In this study, a fractional order sliding surface is introduced to SLFM which is a typical nonlinear under actuated system. The stability of the fractional order sliding mode controller is proved. The performance and robustness of the proposed method are tested for parametric uncertainties and external disturbances. The efficacy of the method is illustrated using MATLAB Simulink.
Starting Page	2011
Ending Page	2016
File Size	316896
Page Count	6
File Format	PDF
ISBN	9781479932726
ISSN	07431619
e-ISBN	9781479932740
DOI	10.1109/ACC.2014.6858955
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-06-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Mathematical model Manipulator dynamics Stability analysis Vibrations Robustness Flexible structures Modeling and simulation Variable-structure/sliding-mode control
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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

Fractional order sliding mode control for single link flexible manipulator

Fuzzy global sliding mode control for flexible manipulators

Output feedback control of flexible link manipulator using sliding modes

Hybrid sliding mode control with optimization for flexible manipulator under fast motion

Sliding mode control using switching gain for a vehicle flexible manipulator

Modeling and variable structure control of a vehicle flexible manipulator

Motion control of an oscillatory-base manipulator using sliding mode control via rotating sliding surface with variable-gain integral control

Observer based control of flexible link manipulator using discrete sliding modes

Robust control of manipulator robot by using the variable structure control with sliding mode

Fractional order modeling and control of a flexible manipulator using sliding modes

Similar Documents

Fractional order sliding mode control for single link flexible manipulator

Fuzzy global sliding mode control for flexible manipulators

Output feedback control of flexible link manipulator using sliding modes

Hybrid sliding mode control with optimization for flexible manipulator under fast motion

Sliding mode control using switching gain for a vehicle flexible manipulator

Modeling and variable structure control of a vehicle flexible manipulator

Motion control of an oscillatory-base manipulator using sliding mode control via rotating sliding surface with variable-gain integral control

Observer based control of flexible link manipulator using discrete sliding modes

Robust control of manipulator robot by using the variable structure control with sliding mode

Fractional order modeling and control of a flexible manipulator using sliding modes