A sliding mode based controller for a flexible arm with a load

被引：0

作者：

Gokasan, M ^{[1
]}

Bogosyan, OS ^{[1
]}

Arabyan, A ^{[1
]}

Sabanovic, A ^{[1
]}

机构：

[1] Istanbul Tech Univ, Fac Engn, TR-80626 Istanbul, Turkey

来源：

IECON '98 - PROCEEDINGS OF THE 24TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4 | 1998年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This study is about the chattering-free sliding mode based control of a single link flexible arm with a mass at the endpoint. The model for this system is obtained using Lagrange's method and the control is developed aiming the angular position of the hub unit to follow a desired trajectory, while the strain is forced to be zero. Experimental results obtained on a DSP32 based single link arm system with and without control on the strain, demonstrate the improved performance caused by the strain control in terms of the transient and steady state and robustness.

引用

页码：1083 / 1087

页数：5

共 50 条

[1] A sliding mode observer and controller for a single link flexible arm
Gokasan, M
Bogosyan, OS
Sabanovic, A
Arabyan, A
PROCEEDINGS OF THE 37TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 1998, : 3625 - 3626
[2] Quasioptimal sliding mode controller for a flexible structure
Salinas, Rodolfo
Barbieri, Enrique
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12, 2006, 1-12 : 4718 - +
[3] Sliding mode based position control of a flexible-link arm
Arisoy, Aydemir
Gokasan, Metin
Bogosyan, O. Seta
2006 12TH INTERNATIONAL POWER ELECTRONICS AND MOTION CONTROL CONFERENCE, VOLS 1-4, 2006, : 1805 - +
[4] Smooth Sliding mode controller design for robotic arm
Sinha, Abhinav
Mishra, Rajiv Kumar
2013 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND EMBEDDED SYSTEMS (CARE-2013), 2013,
[5] Active vibration suppression of a smart flexible beam using a sliding mode based controller
Song, G.
Gu, H.
JOURNAL OF VIBRATION AND CONTROL, 2007, 13 (08) : 1095 - 1107
[6] SLIDING MODE CONTROL AND ELASTIC MODE STABILIZATION OF A ROBOTIC ARM WITH FLEXIBLE LINKS
NATHAN, PJ
SINGH, SN
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1991, 113 (04): : 669 - 676
[7] An intelligent sliding mode controller for vibration suppression in flexible structures
Li, De Z.
Wang, Wilson
JOURNAL OF VIBRATION AND CONTROL, 2011, 17 (14) : 2187 - 2198
[8] Dual-Arm Coordinated Control Strategy Based on Modified Sliding Mode Impedance Controller
Liu, Xuefei
Xu, Xiangrong
Zhu, Zuojun
Jiang, Yanglin
SENSORS, 2021, 21 (14)
[9] Exponential sliding mode controller for a nonlinear musculoskeletal human arm model
Shahbazzadeh, Zahra Jafari
Ardakani, Fatemeh Fotouhi
Vatankhah, Ramin
2017 7TH INTERNATIONAL CONFERENCE ON MODELING, SIMULATION, AND APPLIED OPTIMIZATION (ICMSAO), 2017,
[10] Dynamic modeling and fuzzy adaptive control strategy for space flexible robotic arm considering joint flexibility based on improved sliding mode controller
Shang, Dongyang
Li, Xiaopeng
Yin, Meng
Li, Fanjie
ADVANCES IN SPACE RESEARCH, 2022, 70 (11) : 3520 - 3539

← 1 2 3 4 5 →