DocumentCode
3179433
Title
A variable structure tracking controller for a flexible one-link robot
Author
Fung, Eric H K ; Cheung, Fnlz C K
Author_Institution
Dept. of Mech. Eng., Hong Kong Polytech. Univ, Hung Hom, Hong Kong
Volume
5
fYear
1995
fDate
22-25 Oct 1995
Firstpage
4458
Abstract
This paper outlines a new variable structure control scheme with two switching surfaces designed for the trajectory tracking of single link flexible manipulators. The tip position is split into rigid and flexural dynamics which are the constituents of the surfaces of the proposed controller. One surface is assigned to the rigid dynamics while the other to the flexural dynamics. Three switching mechanisms are used to generate the appropriate control signal, and their performances are compared
Keywords
dynamics; position control; robots; tracking; variable structure systems; flexible one-link robot; flexural dynamics; rigid dynamics; switching surfaces; tracking controller; trajectory tracking; variable structure systems; Control systems; Lyapunov method; Manipulators; Mechanical variables control; Optical amplifiers; Pulse amplifiers; Pulse width modulation; Pulse width modulation converters; Robots; Sampling methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location
Vancouver, BC
Print_ISBN
0-7803-2559-1
Type
conf
DOI
10.1109/ICSMC.1995.538496
Filename
538496
Link To Document