제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
- /
- Pages.546-551
- /
- 1993
불확실성을 갖는 단일 링크 탄성 Arm의 슬라이딩 모드 제어
Sliding mode control of a single-link flexible arm with uncertainties
초록
A new robust sliding mode controller is formulated for the tip position control of a single-link flexible manipulator with parameter variations. After establishing the plant model characterized by a noncollocated uncertain control system, a sliding surface which guarantees stable sliding mode motion is synthesized in an optimal manner. The surface is then modified to adapt arbitrarily given initial conditions. A discontinuous control law associated with the modified surface is designed by restricting that velocity state variables are not available from direct sensor measurements. Using the proposed control law favorable system responses are accomplished through shortening the reaching phase of state trajectory without increasing maximum control torque as well as undesirable chattering. Furthermore, a low sensitiveness to uncertainties is obtained from inherent salient properties of the proposed control system. Computer simulations are undertaken in order to demonstrate these superior control performance characteristics to be accrued from the proposed methodology.
키워드