Flexible manipulator state and input estimation using higher order sliding mode differentiator

This paper proposes a higher-order sliding mode differentiator to give an estimate for a highly nonlinear one-link flexible manipulator state. An Euler-Bernoulli cantilever beam models the manipulator, and the elastic movement is approximated using the assumed modes method based only on the first el...

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Bibliographic Details
Published in:	2017 14th International Multi-Conference on Systems, Signals & Devices (SSD) pp. 302 - 306
Main Authors:	Bakhti, Mohammed, Ben Tarla, Lahssen, Idrissi, Badr Bououlid
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01-03-2017
Subjects:	Brunovsky canonical form Damping flexible manipulator higher order sliding mode differentiator Manipulators Mathematical model nonlinear state estimation Numerical models Observers Strain
Online Access:	Get full text
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Summary:	This paper proposes a higher-order sliding mode differentiator to give an estimate for a highly nonlinear one-link flexible manipulator state. An Euler-Bernoulli cantilever beam models the manipulator, and the elastic movement is approximated using the assumed modes method based only on the first elastic mode. The Hamilton's principle yields the system nonlinear equations that are rearranged in the Brunovsky canonical form in order to derive the differentiator equations. This article evaluates, via the included numerical simulation results, the efficiency of the differentiator scheme to lower the estimation error and to shorten its required time to converge. It also evaluates its ability to reconstruct the unknown input to the system.
ISSN:	2474-0446
DOI:	10.1109/SSD.2017.8166939