Title :
Sliding model control for a flexible robot arm
Author_Institution :
Math. Dept., Towson Univ., Baltimore, MD
Abstract :
The sliding model control problem of distributed parameter system is investigated with frequency domain approach in this paper. Under the conditions more general than in [3] and [4], an equivalent control theorem is proposed and proved. Finally, we apply the equivalent control theorem to a flexible robot system so that the robot arm can be exponentially stable under the sliding model control.
Keywords :
distributed parameter systems; flexible manipulators; variable structure systems; distributed parameter system; flexible robot arm; linear operators; sliding model control; variable structure control; Robots; Sliding mode control; Infinite Dimensional System; Semigroup of Linear Operators; Variable Structure Control;
Conference_Titel :
Industrial Technology, 2008. ICIT 2008. IEEE International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-1705-6
Electronic_ISBN :
978-1-4244-1706-3
DOI :
10.1109/ICIT.2008.4608436
