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.
|出版ステータス||Published - 1999 12 1|
|イベント||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|
継続期間: 1999 8 22 → 1999 8 27
|Other||Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD)|
|City||Kohala Coast, HI, USA|
|Period||99/8/22 → 99/8/27|
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