Controllers using Discrete Sliding Mode Control for 1 & 2-link FMs with Output Samples
Joshi Shubangi Milind1, Arunkumar G.2, T.C.Manjunath3
1Joshi Shubangi Milind, Ph.D. Research Scholar Part Time, Department of ECE, VTU RRC-Belgaum (Karnataka), India.
2Dr. Arunkumar G., Associate Professor & Head, Department of ECE, JSS Academy of Tech. Education (JSSATE), Noida (Uttar Pradesh), India.
3Dr. T. C. Manjunath, Professor & Head, Department of ECE, Dayananda Sagar College of Engineering (DSCE), Bangalore (Karnataka), India.
Manuscript received on 20 August 2019 | Revised Manuscript received on 30 August 2019 | Manuscript Published on 16 September 2019 | PP: 472-481 | Volume-8 Issue-2S6 July 2019 | Retrieval Number: B10900782S619/2019©BEIESP | DOI: 10.35940/ijrte.B1090.0782S619
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: The main highlight of this paper being, the design & development of Controllers using Discrete Sliding Mode Control for 1 & 2-link FMs with output samples is being presented for controlling a 2-link FRM considering 2 DOF in 3 Dimensional Euclidean space along with the simulation results. A 2-link FRM with 2-DOF is being considered and the base motor is attached to the single flexible link & the other link is fixed to the extreme end of the 1st link to which the shoulder motor is connected and the entire set-up is a single structure one and 2 motors are being used for actuation purposes & is being controlled / regulated using the developed sliding mode controller, i.e., the dual links are rotating with respect to the base, further the link-2 is rotating with respect to the shoulder axes & the joint axes of the two are parallel and perpendicular w.r.t. the robot work surface. Hence, the entire system can be called as a planar mechanism, i.e., the 2 links are moving parallel to the plane of the work surface (x – y plane). There are 2 joints, viz., base joint & the shoulder joint along with the end-effector being the tip of the 2-link manipulator. The small errors that occurs in the control signal u is due to the changes during the set-point. Simulink model is being developed in the Simulink-Matlab environment & after running the model, the simulation results observed, the obtained results shows the efficacy of the methodology developed.
Keywords: Robots, Flexible, Manipulators, 3D, Planar, Motor, Sliding Mode Control, Simulink, Matlab, Simulation, Run Time, Results.
Scope of the Article: Computer Science Applications