슬라이딩모드를 갖는 로봇 팔의 제어기 설계

Design of the Controller with Sliding Mode for Robot Arm

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.