Vibration control of flexible joint-a sliding mode approach

The vibration control of a flexible joint based on the sliding mode control approach is presented. Two solutions are discussed. First, a solution using lumped parameters is described. The second solution is in the framework of distributed parameter systems. In both cases the control system has a cascade structure with an inner loop designed to track the reference value of the actuator's shaft position and an outer loop to compute the reference of the motor shaft position in such a way that the position of the flexible joint satisfies the prescribed dynamics. The results of the simulation and tests are presented.<
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