Title :
Control of elastic multi-link manipulators based on the dynamic compensation method
Author :
Utkin, Victor A.
Author_Institution :
Inst. of Control Sci., Moscow, Russia
fDate :
31 May-3 Jun 1998
Abstract :
The paper is concerned with the development of the sliding mode control for a multi-link flexible manipulator based on the pole assignment approach. The problem of chattering taking place in the system with switching control is solved by the introduction of components of the dynamic compensator state vector into the sliding surfaces. The motion separation method is used for the reconstruction of state vector by the methods of asymptotical and dynamic compensation
Keywords :
compensation; flexible structures; manipulator dynamics; pole assignment; variable structure systems; asymptotical compensation; chattering; dynamic compensation method; dynamic compensator state vector; elastic multi-link manipulators; flexible manipulator; motion separation method; pole assignment approach; sliding mode control; sliding surfaces; switching control; Manipulator dynamics;
Conference_Titel :
Circuits and Systems, 1998. ISCAS '98. Proceedings of the 1998 IEEE International Symposium on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-4455-3
DOI :
10.1109/ISCAS.1998.705345
