Robust sliding-mode tip position control for flexible arms

Xinkai Chen, Toshio Fukuda

Research output: Contribution to journalArticlepeer-review

27 Citations (Scopus)


In this paper, we consider the robust tip position control problem for flexible arms by using the sliding-mode method. The higher order modes of the flexible arm are treated as disturbances, and are compensated by introducing a disturbance observer. The remaining disturbance and the model uncertainties are considered as the system uncertainty. The robustness of the sliding-mode control is effectively employed to cope with the system uncertainty, where the upper and lower bounds of the uncertainty are adaptively updated. The stability of the closed-loop system is analyzed by using the fact that a part of the control input is the approximate estimate of the uncertainty. Experimental results show that the robustness and superiority of the proposed method, where only the strain moment at the root and motor angular position of the arm are measured.

Original languageEnglish
Pages (from-to)1048-1056
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Issue number6
Publication statusPublished - 2001 Dec 1
Externally publishedYes


  • Flexible arm
  • Higher order vibration modes
  • Sliding-mode method
  • Tip position control
  • Upper and lower bound of the uncertainty

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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