An approach to variable structure control of a flexible-link manipulator

Author

Fung, Eric H K ; Wong, Joseph C C ; Cheung, F.C.K.

Author_Institution

Dept. of Mech. Eng., Hong Kong Polytech. Univ., Kowloon, Hong Kong

Volume

3

fYear

1996

fDate

5-10 Aug 1996

Firstpage

1949

Abstract

A variable structure controller was designed for the trajectory tracking of a flexible-link manipulator. The tip position, which is the controlled variable, was decomposed into rigid and flexible parts, thus resulting in two switching surfaces. The VSS technique ensured the system was always stable in the Lyapunov sense. The controller was successfully implemented on an experimental single-link manipulator, and acceptable tracking results were obtained

Keywords

Lyapunov methods; control system synthesis; flexible structures; manipulators; position control; stability; variable structure systems; Lyapunov stability; control design; control performance; flexible-link manipulator; switching surfaces; tip position control; tracking results; trajectory tracking; variable structure control; Energy consumption; Manipulator dynamics; Mechanical engineering; Mechanical variables control; Payloads; Pulse width modulation; Robust control; Trajectory; Variable structure systems; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on

Conference_Location

Taipei

Print_ISBN

0-7803-2775-6

Type

conf

DOI

10.1109/IECON.1996.570773

Filename

570773