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Development of a Robust Controller and Observer for the Control of a Single-Link Flexible Robotic Manipulator

[+] Author Affiliations
N. G. Chalhoub, G. A. Kfoury, B. A. Bazzi

Wayne State University

Paper No. IMECE2005-80110, pp. 1437-1446; 10 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


A fuzzy-sliding mode controller (FSMC) has been developed in this study to control the rigid and flexible motions of a single-link robotic manipulator. Only the angular displacement at the base joint of the beam is assumed to be measured. Therefore, a robust nonlinear observer has been designed, based on the sliding mode methodology, to accurately estimate the state variables in the presence of both structured and unstructured uncertainties. Both the controller and the observer account for the first elastic mode of the beam in their design. The dynamic model, used in assessing the performance of the closed-loop system, considers the first two elastic modes of the beam. The second elastic mode is included in order to investigate the effects of the higher order dynamics on the overall performance of the system. The digital simulations demonstrate the capability of the observer in yielding accurate estimates of the state variables in the presence of modeling inaccuracies. Furthermore, they serve to prove the viability of using the observer to provide on-line estimates of the state variables for the computation of the control signals. The simulation results illustrate robust performances of the controller and the observer in controlling the rigid and flexible motions of the single-link robot in the presence of both structured and unstructured uncertainties.

Copyright © 2005 by ASME



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