Robust tip position control for flexible arms using sliding mode method

Xinkai Chen, T. Fukuda

研究成果: Conference contribution

1 被引用数 (Scopus)


We consider the robust tip position control problem for the flexible arm by using the sliding mode method. The model of the flexible arms is described as a nonminimum phase system, in which the higher order modes, the model uncertainty, the disturbance etc., are considered as the system uncertainty. The upper and lower bounds of the uncertainty, which can hardly be obtained in practice, are adaptively updated. The stability of the closed-loop system is analyzed based on this approach, where the fact that a part of the control input is the approximate estimate of the uncertainty is employed. Experimental results show the robustness of the proposed method, where only the strain moment and motor angular position in the arm root are measured.

ホスト出版物のタイトルIECON Proceedings (Industrial Electronics Conference)
出版社IEEE Computer Society
出版ステータスPublished - 2000

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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