Title :
A sliding mode based controller for a flexible arm with a load
Author :
Gokasan, Metin ; Bogosyan, O. Seta ; Arabyan, Ara ; Sabanovic, Asif
Author_Institution :
Fac. of Electr. & Electron. Eng., Istanbul Tech. Univ., Turkey
fDate :
31 Aug-4 Sep 1998
Abstract :
This study is about the chattering-free sliding mode based control of a single link flexible arm with a mass at the end-point. 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
Keywords :
control system synthesis; flexible manipulators; position control; robust control; strain control; variable structure systems; DSP32; Lagrange´s method; angular position trajectory; chattering-free sliding mode control; control design; control performance; flexible manipulators; hub unit; robustness; single link flexible arm; strain control; Capacitive sensors; Control systems; Equations; Lagrangian functions; Manipulators; Robust control; Sliding mode control; Steady-state; Strain control; Vibrations;
Conference_Titel :
Industrial Electronics Society, 1998. IECON '98. Proceedings of the 24th Annual Conference of the IEEE
Conference_Location :
Aachen
Print_ISBN :
0-7803-4503-7
DOI :
10.1109/IECON.1998.724246
