Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation

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Izvoz citacije: ABNT
ALAM, Waqar ;MEHMOOD, Adeel ;ALI, Khurram ;JAVAID, Usman ;ALHARBI, Soltan ;IQBAL, Jamshed .
Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 64, n.1, p. 47-55, june 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/sl/article/nonlinear-control-of-flexible-joint-robotic-manipulator-with-experimental-validation/>. Date accessed: 01 dec. 2021. 
doi:http://dx.doi.org/10.5545/sv-jme.2017.4786.
Alam, W., Mehmood, A., Ali, K., Javaid, U., Alharbi, S., & Iqbal, J.
(2018).
Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation.
Strojniški vestnik - Journal of Mechanical Engineering, 64(1), 47-55.
doi:http://dx.doi.org/10.5545/sv-jme.2017.4786
@article{sv-jmesv-jme.2017.4786,
	author = {Waqar  Alam and Adeel  Mehmood and Khurram  Ali and Usman  Javaid and Soltan  Alharbi and Jamshed  Iqbal},
	title = {Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {64},
	number = {1},
	year = {2018},
	keywords = {flexible joint manipulator; modern control system; sliding mode control; integral sliding mode control},
	abstract = {This article addresses the design and implementation of robust nonlinear control approaches to obtain the desired trajectory tracking of a flexible joint manipulator driven with a direct-current (DC) geared motor. The nonlinear control schemes have been designed and implemented such that they locally stabilize the closed loop system considering all the states as bounded. The system model has been derived using Euler-Lagrange approach. Two different approaches based on sliding mode control (SMC), i.e. the traditional SMC and integral SMC, have been considered in the present study. To experimentally validate the proposed control laws, an electrically-driven single-link flexible manipulator has been designed and fabricated. The designed control algorithms have been developed and experimentally validated on the custom-developed platform. The results obtained both from MATLAB/Simulink and the experimental platform verify the performance of the proposed control algorithms.},
	issn = {0039-2480},	pages = {47-55},	doi = {10.5545/sv-jme.2017.4786},
	url = {https://www.sv-jme.eu/sl/article/nonlinear-control-of-flexible-joint-robotic-manipulator-with-experimental-validation/}
}
Alam, W.,Mehmood, A.,Ali, K.,Javaid, U.,Alharbi, S.,Iqbal, J.
2018 June 64. Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 64:1
%A Alam, Waqar 
%A Mehmood, Adeel 
%A Ali, Khurram 
%A Javaid, Usman 
%A Alharbi, Soltan 
%A Iqbal, Jamshed 
%D 2018
%T Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation
%B 2018
%9 flexible joint manipulator; modern control system; sliding mode control; integral sliding mode control
%! Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation
%K flexible joint manipulator; modern control system; sliding mode control; integral sliding mode control
%X This article addresses the design and implementation of robust nonlinear control approaches to obtain the desired trajectory tracking of a flexible joint manipulator driven with a direct-current (DC) geared motor. The nonlinear control schemes have been designed and implemented such that they locally stabilize the closed loop system considering all the states as bounded. The system model has been derived using Euler-Lagrange approach. Two different approaches based on sliding mode control (SMC), i.e. the traditional SMC and integral SMC, have been considered in the present study. To experimentally validate the proposed control laws, an electrically-driven single-link flexible manipulator has been designed and fabricated. The designed control algorithms have been developed and experimentally validated on the custom-developed platform. The results obtained both from MATLAB/Simulink and the experimental platform verify the performance of the proposed control algorithms.
%U https://www.sv-jme.eu/sl/article/nonlinear-control-of-flexible-joint-robotic-manipulator-with-experimental-validation/
%0 Journal Article
%R 10.5545/sv-jme.2017.4786
%& 47
%P 9
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 64
%N 1
%@ 0039-2480
%8 2018-06-26
%7 2018-06-26
Alam, Waqar, Adeel  Mehmood, Khurram  Ali, Usman  Javaid, Soltan  Alharbi, & Jamshed  Iqbal.
"Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation." Strojniški vestnik - Journal of Mechanical Engineering [Online], 64.1 (2018): 47-55. Web.  01 Dec. 2021
TY  - JOUR
AU  - Alam, Waqar 
AU  - Mehmood, Adeel 
AU  - Ali, Khurram 
AU  - Javaid, Usman 
AU  - Alharbi, Soltan 
AU  - Iqbal, Jamshed 
PY  - 2018
TI  - Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2017.4786
KW  - flexible joint manipulator; modern control system; sliding mode control; integral sliding mode control
N2  - This article addresses the design and implementation of robust nonlinear control approaches to obtain the desired trajectory tracking of a flexible joint manipulator driven with a direct-current (DC) geared motor. The nonlinear control schemes have been designed and implemented such that they locally stabilize the closed loop system considering all the states as bounded. The system model has been derived using Euler-Lagrange approach. Two different approaches based on sliding mode control (SMC), i.e. the traditional SMC and integral SMC, have been considered in the present study. To experimentally validate the proposed control laws, an electrically-driven single-link flexible manipulator has been designed and fabricated. The designed control algorithms have been developed and experimentally validated on the custom-developed platform. The results obtained both from MATLAB/Simulink and the experimental platform verify the performance of the proposed control algorithms.
UR  - https://www.sv-jme.eu/sl/article/nonlinear-control-of-flexible-joint-robotic-manipulator-with-experimental-validation/
@article{{sv-jme}{sv-jme.2017.4786},
	author = {Alam, W., Mehmood, A., Ali, K., Javaid, U., Alharbi, S., Iqbal, J.},
	title = {Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {64},
	number = {1},
	year = {2018},
	doi = {10.5545/sv-jme.2017.4786},
	url = {https://www.sv-jme.eu/sl/article/nonlinear-control-of-flexible-joint-robotic-manipulator-with-experimental-validation/}
}
TY  - JOUR
AU  - Alam, Waqar 
AU  - Mehmood, Adeel 
AU  - Ali, Khurram 
AU  - Javaid, Usman 
AU  - Alharbi, Soltan 
AU  - Iqbal, Jamshed 
PY  - 2018/06/26
TI  - Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 64, No 1 (2018): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2017.4786
KW  - flexible joint manipulator, modern control system, sliding mode control, integral sliding mode control
N2  - This article addresses the design and implementation of robust nonlinear control approaches to obtain the desired trajectory tracking of a flexible joint manipulator driven with a direct-current (DC) geared motor. The nonlinear control schemes have been designed and implemented such that they locally stabilize the closed loop system considering all the states as bounded. The system model has been derived using Euler-Lagrange approach. Two different approaches based on sliding mode control (SMC), i.e. the traditional SMC and integral SMC, have been considered in the present study. To experimentally validate the proposed control laws, an electrically-driven single-link flexible manipulator has been designed and fabricated. The designed control algorithms have been developed and experimentally validated on the custom-developed platform. The results obtained both from MATLAB/Simulink and the experimental platform verify the performance of the proposed control algorithms.
UR  - https://www.sv-jme.eu/sl/article/nonlinear-control-of-flexible-joint-robotic-manipulator-with-experimental-validation/
Alam, Waqar, Mehmood, Adeel, Ali, Khurram, Javaid, Usman, Alharbi, Soltan, AND Iqbal, Jamshed.
"Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 64 Number 1 (26 June 2018)

Avtorji

Inštitucije

  • COMSATS Institute of Information Technology, Department of Electrical Engineering, Pakistan 1
  • University of Jeddah, Electrical and Computer Engineering Department, Saudi Arabia 2
  • FAST National University of Computer and Emerging Sciences, Department of Electrical Engineering, Pakistan 3

Informacije o papirju

Strojniški vestnik - Journal of Mechanical Engineering 64(2018)1, 47-55

https://doi.org/10.5545/sv-jme.2017.4786

This article addresses the design and implementation of robust nonlinear control approaches to obtain the desired trajectory tracking of a flexible joint manipulator driven with a direct-current (DC) geared motor. The nonlinear control schemes have been designed and implemented such that they locally stabilize the closed loop system considering all the states as bounded. The system model has been derived using Euler-Lagrange approach. Two different approaches based on sliding mode control (SMC), i.e. the traditional SMC and integral SMC, have been considered in the present study. To experimentally validate the proposed control laws, an electrically-driven single-link flexible manipulator has been designed and fabricated. The designed control algorithms have been developed and experimentally validated on the custom-developed platform. The results obtained both from MATLAB/Simulink and the experimental platform verify the performance of the proposed control algorithms.

flexible joint manipulator; modern control system; sliding mode control; integral sliding mode control