Volume 8, No. 4, July 2019

General Information

  • ISSN: 2278-0149 (Online)
  • Abbreviated Title:  Int. J. Mech. Eng. Robot. Res.  
  • Editor-in-Chief: ​Prof Richard (Chunhui) Yang, Western Sydney University, Australia
  • Associate Editor: Prof. B.V. Appa Rao, Andhra University; Prof. Ian R. McAndrew, Capitol Technology University, USA
  • Managing Editor: Murali Krishna. B
  • DOI: 10.18178/ijmerr
  • Abstracting/Indexing: Scopus (since 2016), CNKI, Google Scholar, Crossref, etc.
  • E-mail questions to IJMERR Editorial Office.

Submissions

Please send your full manuscript to:

ijmerr@vip.163.com


Useful Documents

Paper Template

Copyright Transfer Agreement

Application For Reviewers

Contact us

International Journal of Mechanical Engineering and Robotics Research
E-mail: ijmerr@vip.163.com

A Finite-Time Sliding Mode Controller Design for Flexible Joint Manipulator Systems Based on Disturbance Observer

Dao Phuong Nam, Pham Thanh Loc, Nguyen Van Huong, and Do Trong Tan
Hanoi University of Science and Technology, Hanoi, Vietnam

Abstract—Flexible joint single-link manipulator is a nonlinear system with many applications in industry such as car assembly plant, beer factory. However, this manipulator has many disadvantages including unknown parameters, external disturbances as well as holonomic constraint force. In order to overcome these challenges, many researchers employ the disturbance attenuation control scheme. It was hard to obtain the asymptotic stability in closed system due to the influence of disturbances. Moreover, the attraction region was also estimated exactly because of no knowledge of disturbance influence. This paper presents an external disturbance observer (DO) for flexible joint single-link manipulator. Moreover, the arbitrary small attraction region is obtained by using the suitable parameters. The main result of this paper is proposed based on theoretical analysis of differential equations without any traditional Lyapunov stability analysis. Furthermore, several explorations that depend on parameters are given out. Offline simulation results pointed out the high effectiveness of the proposed methods. 

Index Terms—disturbance observer (DO), sliding mode control (SMC), single-link manipulator, flexible joint

Cite: Dao Phuong Nam, Pham Thanh Loc, Nguyen Van Huong, and Do Trong Tan, "A Finite-Time Sliding Mode Controller Design for Flexible Joint Manipulator Systems Based on Disturbance Observer" International Journal of Mechanical Engineering and Robotics Research, Vol. 8, No. 4, pp. 619-625, July 2019. DOI: 10.18178/ijmerr.8.4.619-625