Robust tip position control for flexible arms using sliding mode method

Xinkai Chen, T. Fukuda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We consider the robust tip position control problem for the flexible arm by using the sliding mode method. The model of the flexible arms is described as a nonminimum phase system, in which the higher order modes, the model uncertainty, the disturbance etc., are considered as the system uncertainty. The upper and lower bounds of the uncertainty, which can hardly be obtained in practice, are adaptively updated. The stability of the closed-loop system is analyzed based on this approach, where the fact that a part of the control input is the approximate estimate of the uncertainty is employed. Experimental results show the robustness of the proposed method, where only the strain moment and motor angular position in the arm root are measured.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherIEEE Computer Society
Pages468-474
Number of pages7
Volume1
DOIs
Publication statusPublished - 2000
Externally publishedYes

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Chen, X., & Fukuda, T. (2000). Robust tip position control for flexible arms using sliding mode method. In IECON Proceedings (Industrial Electronics Conference) (Vol. 1, pp. 468-474). [973195] IEEE Computer Society. https://doi.org/10.1109/IECON.2000.973195