Robust Control Algorithms for Flexible Manipulators

Kshetrimayum Lochan is a research fellow and robotics lead for the ASPIRE Research Institute for Food Security in Drylands (ARIFSID) under the Department of Mechanical and Nuclear Engineering, Khalifa University Center for Robotics and Autonomous Systems (KUCARS), UAE. She has a bachelor's degree in Electronics and Communication Engineering from Anna University, India in 2009 and Master's degree in Electronics and Communication Technology from Gauhati University, India in 2012. She joined as an assistant professor in the Department of Electronics and Communication Engineering at Royal Global University, India in 2012-2013. She obtained a PhD degree in Robotics and Control specialization from National Institute of Technology Silchar (NITS) in 2018. She was initially with NITS Silchar in 2018, as a contractual faculty. Later on, she joined as an assistant professor in the Mechatronics Department at Manipal Institute of Technology, Manipal Academy of Higher Education, India until September 2021. She was also a postdoctoral research fellow in Indian Institute of Technology (IIT) Palakkad Technology IHub Foundation (IPTIF) in 2022. She has also received Mentor-Mentee Fellowship Award from the Indian National Academy of Engineering (INAE) in the year 2021-2022. She has also received merit scholarship from North Eastern council (NEC), India for her Masters and Bachelor's degrees. She has published several papers in reputed journals and conferences. Her research interest is in controlling for flexible manipulators, nonlinear control, autonomous robots in complex environments of underwater and drylands.

Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed.

Introduction. Survey on a Two-link Flexible Manipulator. Dynamic Modelling of a Two-link Flexible Manipulator. Design of Sliding Mode Controllers for a TLFM. Design of Controllers for a TLFM using the Singular Perturbation Technique. Generalised Projective Synchronisation between Lumped Parameter Modelled TLFMs. Synchronisation between Assumed Modes Modelled TLFMs. Projective Synchronisation between Assumed Modes and Lumped Parameter Modelled TLFMs. Conclusions and Future Work. Index.