Title :
A two-switching surface variable structure control scheme for a flexible manipulator
Author :
Cheung, Fritz C K ; Fung, Eric H K ; Leung, T.P.
Author_Institution :
Dept. of Mech. & Marine Eng., Hong Kong Polytech., Hung Hom, Hong Kong
Abstract :
A novel control scheme for the flexible manipulator based on variable structure system theory is proposed and tested. The controller shows the robustness towards the variation of the system parameters. Also the performance of the controller can be tuned easily without complicated calculation for stability. Experimental results are presented and they are compared with those obtained from the hybrid proportional controller which is based on the optimal control scheme
Keywords :
flexible structures; manipulators; optimal control; robust control; variable structure systems; calculation; controller performance; flexible manipulator; hybrid proportional controller; optimal control; robustness; stability; system parameters; tuning; two-switching surface variable structure control; Damping; Manipulator dynamics; Mechanical variables control; Optimal control; Payloads; Process control; Robots; Robust control; Uncertainty; Vibration control;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.529365
