MODELING AND SLIDING MODE CONTROL FOR A SINGLE FLEXIBLE MANIPULATOR

Authors

  • Nguyen Quang Hoang Department of Applied Mechanics, School of Mechanical Engineering, Hanoi University of Science and Technology
  • Ha Anh Son

DOI:

https://doi.org/10.15625/2525-2518/57/4/13338

Keywords:

Flexible manipulator, Finite element method, Sliding mode control.

Abstract

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.

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Published

2019-10-08

Issue

Section

Mechanical Engineering - Mechatronics