Abstract
Flexible manipulators are being considered as bench mark control problem in the field of nonlinear dynamics. Many of their inherent advantages create challenges while dealing with the dynamics. Tracking control and vibration suppression are two main control problems considered. In this paper a composite controller is designed for the memristive chaotic system signal as trajectory tracking control of a two-link flexible robot manipulator. The dynamics of the flexible manipulator is modelled by using assumed modes method and divided into two subsystems using the singular perturbation technique. The subsystems are called as the slow subsystem involving rigid dynamics of the manipulator and the fast sub-system which incorporates flexible dynamics of the manipulator. Separate control techniques are designed for each subsystem. Contraction theory based controllers are designed for the slow sub-system and fast subsystem for fast trajectory tracking of signal of a memristive chaotic system and quick suppression of the link deflections. The simulation results confirm the better performances of the proposed composite technique.
Similar content being viewed by others
References
K. Lochan, B.K. Roy, B. Subudhi, Annu. Rev. Control. 42, 346 (2016)
Y. Yu, Y. Yuan, X. Fan, H. Yang, Adv. Space Res. 56, 2312 (2015)
K. Lochan, B.K. Roy, B. Subudhi, IFAC-PapersOnLine 49, 219 (2016)
K. Lochan, B.K. Roy, B. Subudhi, Rob. Auton. Syst. 97, 108 (2017)
M. Sayahkarajy, Z. Mohamed, A.A.M. Faudzi, Proc. Inst. Mech. Eng. Part I J. Syst. Control Eng. 230, 1 (2016)
M. Sayahkarajy, Z. Mohamed, A.A.M. Faudzi, E. Supriyanto, Eng. Comput. 33, 395 (2016)
A.R. Maouche, H. Meddahi, Int. J. Adv. Comput. Sci. Appl. 7, 298 (2016)
K. Lochan, R. Dey, B.K. Roy, B. Subudhi, Tracking control with Vibration suppression of a two-link flexible manipulator using singular perturbation with composite control design, in Soft Comput. Appl. SOFA 2016. Adv. Intell. Syst. Comput, edited by V. Balas, L. Jain, M. Balas (Springer, Berlin Heidelberg, 2018), pp. 365–377
W.S. Lohmiller, Contraction Analysis of Nonlinear Systems (1999)
J. Jouffroy, J.-J.E. Slotine, Methodological remarks on contraction theory, in: 2004 43rd IEEE Conf. Decis. Control IEEE Cat. No.04CH37601 (2004), pp. 2537–2543
J.P. Singh, B.K. Roy, Nonlinear Dyn. 92, 373 (2018)
K. Lochan, J.P. Singh, B.K. Roy, Hidden chaotic path planning and control of a flexible robot manipulator, in Nonlinear Dyn. Syst. with Self-Excited Hidden Attractors, edited by S. Vaidyanathan, V.-T. Pham (Springer, India, 2018), pp. 433–463
K. Lochan, B.K. Roy, B. Subudhi, IFAC-PapersOnLine 49, 219 (2016)
K. Lochan, B.K. Roy, B. Subudhi, Trans. Inst. Meas. Control. 40, 1 (2016)
V.-T. Pham, S. Vaidyanathan, C.K. Volos, S. Jafari, Eur. Phys. J. Special Topics 224, 507 (2015)
V.-T. Pham, S. Jafari, C. Volos, T. Kapitaniak, Int. J. Bifurc. Chaos. 27, 1750138 (2017)
E. Tlelo-Cuautle, L.G. de la Fraga, V.-T. Pham, C. Volos, S. Jafari, A. de J. Quintas-Valles, Nonlinear Dyn. 89, 1 (2017)
V.T. Pham, S. Vaidyanathan, C. Volos, S. Jafari, S.T. Kingni, Optik 127, 3259 (2016)
S. Vaidyanathan, V.-T. Pham, C.K. Volos, Eur. Phys. J. Special Topics 224, 1575 (2015)
C. Volos, A. Akgul, V.T. Pham, I. Stouboulos, I. Kyprianidis, Nonlinear Dyn. 89, 1 (2017)
V.T. Pham, C. Volos, L. Valentina Gambuzza, Sci. World J. 2014, 1 (2014)
V.T. Pham, C. Volos, S. Jafari, X. Wang, Optoelectron. Adv. Mater. Rapid Commun. 8, 535 (2014)
J.P. Singh, B.K. Roy, Nonlinear Dyn. 92, 23 (2018)
J.P. Singh, B.K. Roy, Nonlinear Dyn. 89, 1845 (2017)
S. Vaidyanathan, A. Sambas, M. Mamat, W.S. Mada Sanjaya, Arch. Control Sci. 27, 541 (2017)
S. Vaidyanathand, A. Sambas, M. Mamat, Arch. Control Sci. 28, 443 (2018)
A. Sambas, S. Vaidyanathan, M. Mamat, M.A. Mohamed, S.M. Sanjaya, Int. J. Electr. Comput. Eng. 8, 4951 (2018)
S. Mobayen, S. Vaidyanathan, A. Sambas, S. Kaçar, U. Çavusoglu, Iran J. Sci. Technol. Trans. Electr. Eng. 43, 1 (2018)
A. Bussarino, L. Fortuna, M. Franca, L.V. Gambuzza, Int. J. Bifurc. Chaos. 23, 1330015 (2013)
A.L. Fitch, D. Yu, H.H.C. Iu, V. Sreeram, Int. J. Bifurc. Chaos. 22, 1250133 (2012)
A. Buscarino, L. Fortuna, M. Frasca, L. Valentina Gambuzza, Chaos 22, 023136 (2012)
F. Corinto, A. Ascoli, M. Gilli, IEEE Trans. Circuits Syst. I Regul. Pap. 58, 1323 (2011)
B. Bao, Z. Ma, J. Xu, Z. Liu, Q. Xu, Int. J. Bifurc. Chaos. 21, 2629 (2011)
M. Itoh, L.O. Chua, Int. J. Bifurc. Chaos. 18, 3183 (2008)
B.C. Bao, J.P. Xu, G.H. Zhou, Z.H. Ma, L. Zou, Chin. Phys. B. 20, 120502 (2011)
X. Xi, S. Mobayen, H. Ren, S. Jafari, J. Vib. Control. 24, 3842 (2018)
O. Mofid, S. Mobayen, J. Vib. Control. 24, 4971 (2017)
S. Mobayen, F. Tchier, Asian J. Control. 20, 1 (2017)
K. Lochan, J.P. Singh, B.K. Roy, B. Subudhi, Chaotic path planning for a two-link flexible robot manipulator using a composite control technique, in , Recent Adv. Chaotic Syst. Synchronization (Elsevier, 2019) pp. 233–257
W. Lohmiller, J.-J.E. Slotine, Automatica 34, 683 (1998)
S.K. Pradhan, B. Subudhi, IEEE Trans. Control Syst. Technol. 22, 1 (2014)
B. Subudhi, A.S. Morris, Rob. Auton. Syst. 41, 257 (2002)
A. De Luca, B. Siciliano, IEEE Trans. Syst. Man Cybern. 21, 826 (1991)
B. Siciliano, W.J. Book, Int. J. Rob. Res. 7, 79 (1988)
D.A. Prousalis, C.K. Volos, I.N. Stouboulos, I.M. Kyprianidis, Int. J. Simul. Process Model. 13, 433 (2018)
A. Wolf, J.B. Swift, H.L. Swinney, J.A. Vastano, Physica D 16, 285 (1985)
QUANSER, Equation for the Frist (Second) Stage of the 2DOF Serial Flexible Link Robot (2006)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Lochan, K., Roy, B.K. & Subudhi, B. Use of memristive chaotic signal as a desired trajectory for a two-link flexible manipulator using contraction theory based on a composite control technique. Eur. Phys. J. Spec. Top. 228, 2215–2231 (2019). https://doi.org/10.1140/epjst/e2019-900038-5
Received:
Revised:
Published:
Issue Date:
DOI: https://doi.org/10.1140/epjst/e2019-900038-5