Title :
Flexible manipulator DQSMC control
Author :
Qian, W.T. ; Ma, C.C.H.
Author_Institution :
Dept. of Electr. Eng., British Columbia Univ., BC, Canada
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;
Conference_Titel :
Control Applications, 1992., First IEEE Conference on
Conference_Location :
Dayton, OH
Print_ISBN :
0-7803-0047-5
DOI :
10.1109/CCA.1992.269906
