Abstract
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 language | English |
|---|---|
| Pages (from-to) | 1048-1056 |
| Number of pages | 9 |
| Journal | IEEE Transactions on Industrial Electronics |
| Volume | 48 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - 2001 Dec |
| Externally published | Yes |
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Keywords
- Flexible arm
- Higher order vibration modes
- Sliding-mode method
- Tip position control
- Upper and lower bound of the uncertainty
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Instrumentation
Cite this
Robust sliding-mode tip position control for flexible arms. / Chen, Xinkai; Fukuda, Toshio.
In: IEEE Transactions on Industrial Electronics, Vol. 48, No. 6, 12.2001, p. 1048-1056.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Robust sliding-mode tip position control for flexible arms
AU - Chen, Xinkai
AU - Fukuda, Toshio
PY - 2001/12
Y1 - 2001/12
N2 - 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.
AB - 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.
KW - Flexible arm
KW - Higher order vibration modes
KW - Sliding-mode method
KW - Tip position control
KW - Upper and lower bound of the uncertainty
UR - http://www.scopus.com/inward/record.url?scp=0035586837&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0035586837&partnerID=8YFLogxK
U2 - 10.1109/41.969383
DO - 10.1109/41.969383
M3 - Article
AN - SCOPUS:0035586837
VL - 48
SP - 1048
EP - 1056
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 6
ER -