Title :
Tracking control of a rotating flexible beam using modified frequency-shaped sliding mode control
Author :
Jalili, Nader ; Elmali, Hakan ; Moura, Jairo T. ; Olgac, Nejat
Author_Institution :
Dept. of Mech. Eng., Connecticut Univ., Storrs, CT, USA
Abstract :
The purpose of this study is to improve a robust control strategy using frequency-shaped sliding surfaces. The control objective is the trajectory tracking of a flexible beam attached to a rigid hub. A compensator is introduced in sliding mode through a frequency-shaped performance index with prescribed degree of stability. This procedure yields desirably fast trajectory tracking without exciting the unmodelled dynamics (UD). It also offers a methodology to resolve this trade-off. Simulation results show that regarding the excitation of UD, the proposed control structure exhibits superior characteristics among peer sliding mode strategies
Keywords :
closed loop systems; compensation; dynamics; flexible structures; performance index; pole assignment; robust control; tracking; variable structure systems; closed loop systems; compensator; inertia wheel; performance index; pole assignment; robust control; rotating flexible beam; sliding mode control; stability; trajectory tracking; unmodelled dynamics; Flexible structures; Frequency; Mechanical engineering; Motion control; Performance analysis; Robust control; Sliding mode control; Stability; Trajectory; Wheels;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.609255
