Control of n-link flexible robotic manipulators in 3D Euclidean space using PID, POF, FOS & DSMC strategies

Abstract

Abstract – In this paper, the design & development of different types of controllers for the control of a single-link & double link flexible robotic manipulator in the 3 Dimensional Euclidean space is being presented along with the simulation results developed in Matlab.  In the research work considered, a 1 & 2-link flexible manipulator/s with 1/2-DOF is being considered and the base motor is attached to the single flexible link along with the motor-2 attached to the end of the link-1 and end effector attached to the end of link-2, which is being used for actuation purposes is being controlled / regulated using 4 types of control algorithms, viz., PID, POF, FOS & the DSMC. The small errors that occurs in the control signal u is due to the changes during the set-point.  Simulink model is being developed in the Simulink-Matlab environment & after running the model, the simulation results observed, the obtained results shows the efficacy of the methodology developed by the 4 types of control algorithms.