Robust control algorithms for two-link flexible manipulators / Kshetrimayum Lochan, Binoy Krishna Roy, Bidyadhar Subudhi, Santhakumar Mohan.

Includes bibliographical references and index.

Survey on a two-link flexible manipulator -- Dynamic modelling of a two-link flexible manipulator -- Design of sliding mode controllers for a TLFM -- Design of controllers for a TLFM using the singular perturbation technique -- Generalised projective synchronisation between lumped parameter modelled -- Synchronisation between assumed modes modelled TLFMs -- Projective synchronisation between assumed modes and lumped parameter -- Conclusions and future work.

"In this book "Design of robust Control Algorithms for a Two-link Flexible Manipulator" various modelling and control of a two-link flexible manipulators are presented. The lumped parameter modelling method and the assumed modes method modelling are properly reviewed. The trajectory tracking problem and tip trajectory tracking problem are considered along with the suppression of tip deflection of the links. An exponentially time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator. Various synchronisation techniques such as generalised projective synchronisation, projective synchronisation with scaled and complete projections are considered. The synchronisation between the lumped parameter and assumed modes method are used for the master and slave. Various types of control techniques are also used such as conventional sliding mode control, modified sliding mode control, state feedback controller, adaptive global sliding mode control, adaptive time-varying super-twisting sliding mode control, etc. Also, singular perturbations are used for the segregation of modelling in terms of slow and fast subsystems using singular perturbations"-- Provided by publisher.