Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)
- 1999.11a
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- Pages.703-706
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- 1999
Design of the Controller with Sliding Mode for Robot Arm
슬라이딩모드를 갖는 로봇 팔의 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 Lagragian 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 adoptation of a continuous control law within a small neighborhood of the switching hyperplane.
Keywords