Flexible manipulator DQSMC control

Author

Qian, W.T. ; Ma, C.C.H.

Author_Institution

Dept. of Electr. Eng., British Columbia Univ., BC, Canada

fYear

1992

Firstpage

13

Abstract

A discrete-time quasi-sliding mode control (DQSMC) is proposed which can assign arbitrarily the poles of the reduced order closed-loop system. The representative point is driven to the sliding surface asymptotically. The principle of the algorithm is given based on an analysis of the pros and cons of the discrete-time necessary- and sufficient-condition-based control algorithms. The design procedure for a flexible link manipulator regulation problem is also presented. The whole procedure is simple and practical. Experimental results verified its effectiveness

Keywords

closed loop systems; discrete time systems; distributed parameter systems; large-scale systems; poles and zeros; robots; variable structure systems; DQSMC control; discrete-time quasi-sliding mode control; flexible manipulator; necessary- and sufficient-condition-based control algorithms; poles; reduced order closed-loop system; Algorithm design and analysis; Control design; Control systems; Design methodology; Frequency; Sampling methods; Sliding mode control; State-space methods; Transfer functions; Variable structure systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1992., First IEEE Conference on

Conference_Location

Dayton, OH

Print_ISBN

0-7803-0047-5

Type

conf

DOI

10.1109/CCA.1992.269906

Filename

269906