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
收藏
页码：1083 / 1087
页数：5
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