한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1993년도 춘계학술대회 논문집
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- Pages.218-222
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- 1993
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- 2005-8446(pISSN)
슬라이딩 모드 제어기를 이용한 당일 링크 탄성 Arm의 선단위치 제어
초록
A sliding mode controller associated with the moving sliding surface is formulate for the tip position control of a single-link flexible manipulator. After establishing the plant model which characterizes a noncollocated control system, a discontinuous control law is then constructed 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 without increasing maximum control torque. Furthermore, a low sensitiveness to extraneous disturbance is obtained. Computer simulations are undertaken in order to demonstrate these superior control performance characteristics to be accrued from the proposed methodology.
키워드