DocumentCode
1922494
Title
Control of elastic multi-link manipulators based on the dynamic compensation method
Author
Utkin, Victor A.
Author_Institution
Inst. of Control Sci., Moscow, Russia
Volume
6
fYear
1998
fDate
31 May-3 Jun 1998
Firstpage
594
Abstract
The paper is concerned with the development of the sliding mode control for a multi-link flexible manipulator based on the pole assignment approach. The problem of chattering taking place in the system with switching control is solved by the introduction of components of the dynamic compensator state vector into the sliding surfaces. The motion separation method is used for the reconstruction of state vector by the methods of asymptotical and dynamic compensation
Keywords
compensation; flexible structures; manipulator dynamics; pole assignment; variable structure systems; asymptotical compensation; chattering; dynamic compensation method; dynamic compensator state vector; elastic multi-link manipulators; flexible manipulator; motion separation method; pole assignment approach; sliding mode control; sliding surfaces; switching control; Manipulator dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Circuits and Systems, 1998. ISCAS '98. Proceedings of the 1998 IEEE International Symposium on
Conference_Location
Monterey, CA
Print_ISBN
0-7803-4455-3
Type
conf
DOI
10.1109/ISCAS.1998.705345
Filename
705345
Link To Document