Vibration suppression control of flexible arms by using sliding mode method

Xinkai Chen, Shuxiang Guo, Toshio Fukuda

Research output: Contribution to conferencePaper

3 Citations (Scopus)

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 languageEnglish
Pages309-314
Number of pages6
Publication statusPublished - 1999 Dec 1
EventProceedings 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 221999 Aug 27

Other

OtherProceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD)
CityKohala Coast, HI, USA
Period99/8/2299/8/27

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Chen, X., Guo, S., & Fukuda, T. (1999). Vibration suppression control of flexible arms by using sliding mode method. 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, .