Title :
Adaptive sliding mode control for two-link flexible manipulators with H/sub /spl infin// tracking performance
Author :
Zhang, You-an ; Mi, Yu-Lin ; Zhu, Ming ; Lü, Feng-Lin
Author_Institution :
Dept. of Autom. Control, NAEI, Yantai, China
Abstract :
A composite controller is designed based on singular perturbation model of two-link flexible manipulators with external disturbances and parameter uncertainties, where a new adaptive sliding mode controller with H ∞ tracking performance is designed for the slow subsystem, the adaptive algorithm is used to estimate the perturbation part of system parameters, and an optimal controller is designed to stabilize the fast subsystem. Numerical simulation results confirm that the proposed controller can not only attenuate effectively the effect of system uncertainties on tracking error, but also can reduce significantly chattering inherent in conventional sliding mode control. Also, tip vibration can be suppressed effectively.
Keywords :
H/sup /spl infin// control; adaptive control; control system synthesis; flexible manipulators; parameter estimation; singularly perturbed systems; stability; variable structure systems; H/sub /spl infin// tracking performance; adaptive algorithm; adaptive sliding mode control; composite controller design; optimal controller design; singular perturbation model; two-link flexible manipulators; Adaptive algorithm; Adaptive control; Algorithm design and analysis; Error correction; Numerical simulation; Optimal control; Programmable control; Sliding mode control; Uncertain systems; Uncertainty; Adaptive control; Flexible manipulators; H∞ tracking performance; Optimal control; Singular perturbation; Sliding mode control; Two-link;
Conference_Titel :
Machine Learning and Cybernetics, 2005. Proceedings of 2005 International Conference on
Conference_Location :
Guangzhou, China
Print_ISBN :
0-7803-9091-1
DOI :
10.1109/ICMLC.2005.1527035
