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|Experimental Investigation on the Robustness Analysis of a Single-Link Flexible Manipulator towards Parametric Uncertainties and Input Disturbance
|Flexible manipulator;Real-time control;Vibration Suppression;Parametric Uncertainties;Input Disturbance;ISMC Controller
|Over the last few decades, flexible manipulators are extensively used because of their light weight and low power consumption. However, reduction in weight of manipulator causes tip deflection. Many researchers used controller to eliminate tip deflection and implemented it on experimental model. Design of controller depends upon mathematical model of a system. During modeling of a system, some factors of real-time often remain unaddressed, which leads to parametric uncertainty in the model. Thus there is need to design a robust controller to address parametric uncertainty. In this present works, two controllers are investigated on the basis of robustness of flexible manipulator towards parametric uncertainties and input disturbances. Mathematical model is required to design a controller. Two approaches are used to model a flexible manipulator: finite element method and lumped parameter method, by considering linear tip deflection and angular tip deflection respectively. Both the models are derived using Euler Lagrange approach. Mathematical models of the flexible manipulator are validated by comparing their step response with the step response obtained from Quanser experimental setup. Variation of the natural frequency with the dimensions and properties of flexible manipulator is illustrated by the usage of the finite element model. On the other hand, lumped parameter model is used to design controller for single-link flexible manipulator. Linear quadratic regulator and integral sliding mode controller are designed to control tip deflection, furthermore weight matrices of linear quadratic regulator controller is optimized by genetic algorithm.
|Master of Engineering -CAD/CAM
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