Title :
A two-level sliding-mode approach to position control of flexible arms
Author :
Tanaka, Hiromasa ; Nakano, Kazushi ; Sawut, Umerujan
Author_Institution :
Graduate Sch. of Inf. Sci. & Technol., Univ. of Tokyo, Japan
Abstract :
This paper presents a control strategy with a Two-Level Sliding-Mode for positioning flexible arms. "Two-Level" is advantageous for digitization of the motor driver. A genetic algorithm is used for estimating system parameters and designing the controller. The validity of the proposed approach is shown by simulations and experiments.
Keywords :
control system synthesis; flexible manipulators; genetic algorithms; nonlinear control systems; observers; parameter estimation; position control; variable structure systems; control strategy; controller design; flexible arms; genetic algorithm; industrial robots; motor driver digitization; nonlinear model; observer design; position control; system parameter estimation; two-level sliding-mode approach; Position control;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195592
