Sliding mode method based vibration control of flexible arms

研究成果: Article

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In this paper, we consider the vibration suppression control of 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 that the robustness and superiority of the proposed method.

元の言語English
記事番号119
ページ(範囲)2374-2379
ページ数6
ジャーナルProceedings of the American Control Conference
3
DOI
出版物ステータスPublished - 2002 1 1

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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