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Mohammad Marzuki
University of Muhammadiyah, Malang
Computer Science & IT Electrical & Electronics Engineering

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Two-Link Flexible Manipulator Control Using Sliding Mode Control Based Linear Matrix Inequality Zulfatman Zulfatman; Mohammad Marzuki; Nur Alif Mardiyah
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 3: EECSI 2016
Publisher : IAES Indonesia Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1066.662 KB) | DOI: 10.11591/eecsi.v3.1138

Abstract

Two-link flexible manipulator is a manipulator robot which at least one of its arms is made of lightweight material and not rigid. Flexible robot manipulator has some advantages over the rigid robot manipulator, such as lighter, requires less power and costs, and to result greater payload. However, suitable control algorithm to maintain the two-link flexible robot manipulator in accurate positioning is very challenging. In this study, sliding mode control (SMC) was employed as robust control algorithm due to its insensitivity on the system parameter variations and the presence of disturbances when the system states are sliding on a sliding surface. SMC algorithm was combined with linear matrix inequality (LMI), which aims to reduce the effects of chattering coming from the oscillation of the state during sliding on the sliding  surface.  Stability  of  the  control  algorithm  is  guaranteed  by  Lyapunov  function candidate. Based on simulation works, SMC based LMI resulted in better performance improvements despite the disturbances with significant chattering reduction. This was evident from the decline of the sum of squared tracking error (SSTE) and the sum of squared of control input (SSCI) indexes respectively 25.4% and 19.4%.
Co-Authors Nur Alif Mardiyah Zulfatman Zulfatman