TY - JOUR
T1 - Robust sliding mode control for flexible arms
AU - Chen, Xinkai
AU - Zhai, Guisheng
AU - Kano, Hiroyuki
PY - 2004/12/1
Y1 - 2004/12/1
N2 - In this paper, we consider the robust control of one link 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 the robustness of the proposed method.
AB - In this paper, we consider the robust control of one link 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 the robustness of the proposed method.
KW - Disturbance Observer
KW - Flexible Arm
KW - Robust Control
KW - Sliding Mode Control
KW - Uncertainty
UR - http://www.scopus.com/inward/record.url?scp=11844300340&partnerID=8YFLogxK
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M3 - Conference article
AN - SCOPUS:11844300340
VL - 23
SP - 50
EP - 55
JO - Proceedings of the IASTED International Conference on Intelligent Systems and Control
JF - Proceedings of the IASTED International Conference on Intelligent Systems and Control
SN - 1025-8973
M1 - 412-227
T2 - Proceedings of the 23rd IASTED International Conference on Modelling, Identification, and Control
Y2 - 23 February 2004 through 25 February 2004
ER -