Vibration suppression control of flexible arms by using sliding mode method

Xinkai Chen; Shuxiang Guo; Toshio Fukuda

Vibration suppression control of flexible arms by using sliding mode method

Xinkai Chen, Shuxiang Guo, Toshio Fukuda

Research output: Contribution to conference › Paper › peer-review

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
Pages	309-314
Number of pages	6
Publication status	Published - 1999 Dec 1
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

ASJC Scopus subject areas

Control and Systems Engineering

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Cite this

Vibration suppression control of flexible arms by using sliding mode method. / Chen, Xinkai; Guo, Shuxiang; Fukuda, Toshio.

1999. 309-314 Paper presented at 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, .

Research output: Contribution to conference › Paper › peer-review

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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.",

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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.

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