제어로봇시스템학회:학술대회논문집
- 1996.10b
- /
- Pages.547-551
- /
- 1996
Design of the controller with sliding mode for flexible robot arm
유연한 로봇 팔의 슬라이딩모드를 갖는 제어기 설계
Abstract
In this paper, robust vibration control of a one-link flexible robot arm based on variable structure system is discussed. We derive dynamic equations of it using a Lagrangian assumed modes method based on Bernoulli-Euler Beam theory. The optimal sliding surface is designed and the problem of chattering is also solved by the adoption of a continuous control law within a small neighborhood of the switching hyperplane.