Sliding mode method based vibration control of flexible arms

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3 Citations (Scopus)

Abstract

In this paper, we consider the vibration suppression control of flexible arms by using sliding mode method. The higher order modes of the flexible arm are treated as disturbances, and are compensated by introducing a special filter. The remained 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.

Original languageEnglish
Article number119
Pages (from-to)2374-2379
Number of pages6
JournalProceedings of the American Control Conference
Volume3
DOIs
Publication statusPublished - 2002 Jan 1

Keywords

  • Flexible arm
  • Higher order vibration modes
  • Sliding mode method
  • Upper and lower bound of the uncertainty
  • Vibration suppression control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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