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 language | English |
|---|---|
| Title of host publication | IECON Proceedings (Industrial Electronics Conference) |
| Publisher | IEEE Computer Society |
| Pages | 468-474 |
| Number of pages | 7 |
| Volume | 1 |
| DOIs | |
| Publication status | Published - 2000 |
| Externally published | Yes |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Robust tip position control for flexible arms using sliding mode method. / Chen, Xinkai; Fukuda, T.
IECON Proceedings (Industrial Electronics Conference). Vol. 1 IEEE Computer Society, 2000. p. 468-474 973195.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Robust tip position control for flexible arms using sliding mode method
AU - Chen, Xinkai
AU - Fukuda, T.
PY - 2000
Y1 - 2000
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84969264849&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84969264849&partnerID=8YFLogxK
U2 - 10.1109/IECON.2000.973195
DO - 10.1109/IECON.2000.973195
M3 - Conference contribution
AN - SCOPUS:84969264849
VL - 1
SP - 468
EP - 474
BT - IECON Proceedings (Industrial Electronics Conference)
PB - IEEE Computer Society
ER -