IDEAS home Printed from https://ideas.repec.org/a/taf/tsysxx/v51y2020i13p2410-2428.html
   My bibliography  Save this article

Adaptive global super-twisting sliding mode control-based filter for trajectory synchronisation of two-link flexible manipulators

Author

Listed:
  • Kshetrimayum Lochan
  • Jay Prakash Singh
  • Binoy Krishna Roy
  • Bidhyadhar Subudhi

Abstract

A projective synchronisation strategy is designed in this paper to synchronise a master manipulator having 12 states modelled using the assumed modes method and the slave manipulator with 8 states modelled using the lumped parameter method. The first objective is to design an adaptive SMC-based filter and the second objective is to design an adaptive global super-twisting sliding mode-based filter algorithm. In the first controller, a filter is designed to estimate the angular velocity errors of the master manipulator then for the second, a filter is designed to estimate the angular and link deflection velocity errors of the slave manipulator. Both the controller gains for the switching laws of the SMC are simultaneously updated online and super-twisting algorithm is designed to reduce the chattering problem. This approach is designed to reduce the time of reaching phase and to increase the robustness. The effectiveness and performances of the proposed controller are validated in MATLAB simulation environment and compared with a latest reported adaptive global SMC controller. The proposed scheme of synchronisation is found to be better than the existing controller.

Suggested Citation

  • Kshetrimayum Lochan & Jay Prakash Singh & Binoy Krishna Roy & Bidhyadhar Subudhi, 2020. "Adaptive global super-twisting sliding mode control-based filter for trajectory synchronisation of two-link flexible manipulators," International Journal of Systems Science, Taylor & Francis Journals, vol. 51(13), pages 2410-2428, October.
    • Handle: RePEc:taf:tsysxx:v:51:y:2020:i:13:p:2410-2428
    DOI: 10.1080/00207721.2020.1795947
    as

    Download full text from publisher

    File URL: http://hdl.handle.net/10.1080/00207721.2020.1795947
    Download Restriction: Access to full text is restricted to subscribers.
    File URL: https://libkey.io/10.1080/00207721.2020.1795947?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:taf:tsysxx:v:51:y:2020:i:13:p:2410-2428. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Chris Longhurst (email available below). General contact details of provider: http://www.tandfonline.com/TSYS20 .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.