Abstract
In this paper, we consider the vibration suppression control of flexible arms by using sliding mode method. The vibration motion of the flexible arm has infinite number of modes. The higher order modes of the flexible arm are considered as the disturbances. Since the payload mass is usually unknown, the model uncertainties usually exist. The sliding surface is designed such that the dynamics on the surface is stable under the sliding mode control. The robustness of sliding mode control is effectively employed to compensate the model uncertainties and the disturbances. For different payloads, experimental results show that the robustness of the proposed method is superior to that of the traditional pole-placement methods.
| Original language | English |
|---|---|
| Title of host publication | IEEE Conference on Control Applications - Proceedings |
| Place of Publication | Piscataway, NJ, United States |
| Publisher | IEEE |
| Pages | 309-314 |
| Number of pages | 6 |
| Volume | 1 |
| Publication status | Published - 1999 |
| Externally published | Yes |
| Event | Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD) - Kohala Coast, HI, USA Duration: 1999 Aug 22 → 1999 Aug 27 |
Other
| Other | Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD) |
|---|---|
| City | Kohala Coast, HI, USA |
| Period | 99/8/22 → 99/8/27 |
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ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Vibration suppression control of flexible arms by using sliding mode method. / Chen, Xinkai; Guo, Shuxiang; Fukuda, Toshio.
IEEE Conference on Control Applications - Proceedings. Vol. 1 Piscataway, NJ, United States : IEEE, 1999. p. 309-314.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
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TY - GEN
T1 - Vibration suppression control of flexible arms by using sliding mode method
AU - Chen, Xinkai
AU - Guo, Shuxiang
AU - Fukuda, Toshio
PY - 1999
Y1 - 1999
N2 - In this paper, we consider the vibration suppression control of flexible arms by using sliding mode method. The vibration motion of the flexible arm has infinite number of modes. The higher order modes of the flexible arm are considered as the disturbances. Since the payload mass is usually unknown, the model uncertainties usually exist. The sliding surface is designed such that the dynamics on the surface is stable under the sliding mode control. The robustness of sliding mode control is effectively employed to compensate the model uncertainties and the disturbances. For different payloads, experimental results show that the robustness of the proposed method is superior to that of the traditional pole-placement methods.
AB - In this paper, we consider the vibration suppression control of flexible arms by using sliding mode method. The vibration motion of the flexible arm has infinite number of modes. The higher order modes of the flexible arm are considered as the disturbances. Since the payload mass is usually unknown, the model uncertainties usually exist. The sliding surface is designed such that the dynamics on the surface is stable under the sliding mode control. The robustness of sliding mode control is effectively employed to compensate the model uncertainties and the disturbances. For different payloads, experimental results show that the robustness of the proposed method is superior to that of the traditional pole-placement methods.
UR - http://www.scopus.com/inward/record.url?scp=0033329727&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0033329727&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0033329727
VL - 1
SP - 309
EP - 314
BT - IEEE Conference on Control Applications - Proceedings
PB - IEEE
CY - Piscataway, NJ, United States
ER -