MODELING AND SLIDING MODE CONTROL FOR A SINGLE FLEXIBLE MANIPULATOR
Keywords:Flexible manipulator, Finite element method, Sliding mode control.
This paper concerns with modeling and control of a single flexible manipulator (SFM). The finite element method (FEM) and Lagrangian equations are exploited to establish the dynamic modeling of SFM. Firstly, the Jacobian matrix is built based on kinematic analysis. Then it is used in construction of a mass matrix for each element. The position and vibration of SFM are controlled by sliding mode controller (SMC). Its parameters are chosen by linearized equations to guarantee the stability of the system. The numerical simulation is carried out to show the efficiency of the proposed approach.
Authors who publish with Vietnam Journal of Science and Technology agree with the following terms:
- The manuscript is not under consideration for publication elsewhere. When a manuscript is accepted for publication, the author agrees to automatic transfer of the copyright to the editorial office.
- The manuscript should not be published elsewhere in any language without the consent of the copyright holders. Authors have the right to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal’s published version of their work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are encouraged to post their work online (e.g., in institutional repositories or on their websites) prior to or during the submission process, as it can lead to productive exchanges or/and greater number of citation to the to-be-published work (See The Effect of Open Access).