Robust sliding-mode tip position control for flexible arms
Xinkai Chen; Fukuda, T.
Industrial Electronics, IEEE Transactions on
Volume 48, Issue 6, Dec 2001 Page(s):1048 - 1056
Digital Object Identifier 10.1109/41.969383
Summary:In this paper, we consider the robust tip position control problem
for flexible arms by using the sliding-mode method. The higher order
modes of the flexible arm are treated as disturbances, and are
compensated by introducing a disturbance observer. The remaining
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, where only the strain moment at the root and motor
angular position of the arm are measured
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