Cart (Loading....) | Create Account
Close category search window
 

Alleviation of chattering in variable structure control signal for flexible one-link manipulator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Thomas, S. ; Dept. of Electr. Eng. & Comput. Sci., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea ; Jong-Hwan Kim

A variable structure controller design for the tip position control of a flexible one-link manipulator was presented by Thomas et al. (1997). The control torque obtained using this design methodology was subjected to high frequency chattering. This makes it impossible to implement the controller in practice. The absence of a sign(S) function in the control law makes it impossible to implement the boundary layer technique of chatter reduction where the sign(S) function is replaced by a saturation type function to yield a continuous control signal approximation that confines the system trajectory to a small band neighboring the switching surface. This paper presents a new switching law which not only alleviates chattering in the control signal but also ensures ideal sliding mode motion. Simulation results are presented to verify the claims attributed to the proposed method.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

Date of Conference:

2001

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.