TY - JOUR
T1 - Sliding mode method based vibration control of flexible arms
AU - Chen, Xinkai
AU - Zhai, Guisheng
PY - 2002/1/1
Y1 - 2002/1/1
N2 - 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.
AB - 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.
KW - Flexible arm
KW - Higher order vibration modes
KW - Sliding mode method
KW - Upper and lower bound of the uncertainty
KW - Vibration suppression control
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U2 - 10.1109/ACC.2002.1023997
DO - 10.1109/ACC.2002.1023997
M3 - Article
AN - SCOPUS:0036343541
VL - 3
SP - 2374
EP - 2379
JO - Proceedings of the American Control Conference
JF - Proceedings of the American Control Conference
SN - 0743-1619
M1 - 119
ER -