Time sub-optimal/sliding mode controller for a flexible structure

Author

Salinas, Rodolfo ; Barbieri, Enrique ; Drakunov, Sergey

Author_Institution

Dept. of Electr. Eng., Tulane Univ., New Orleans, LA, USA

fYear

1996

fDate

31 Mar-2 Apr 1996

Firstpage

253

Lastpage

257

Abstract

This paper describes the combined design of a time-optimal and a sliding mode controller for a single-axis, one-mode model of a flexible slewing structure, where the goal is the real-time implementation of a fast controller. The model of a flexible aluminum link with torque actuation (DC motor) at its hub is considered in modal coordinates, and a previously introduced time-optimal torque law for this system that can be implemented in real time is used. A sliding-mode controller for the DC motor is designed so that the torque generated by the motor converges to the desired time-optimal torque law. Computer simulations are included in this paper to illustrate the design idea

Keywords

DC motors; control system synthesis; flexible structures; machine control; suboptimal control; time optimal control; variable structure systems; flexible aluminum link; flexible structure; single-axis one-mode model; time sub-optimal/sliding mode controller; torque actuation; Actuators; DC motors; Equations; Flexible structures; Motion control; Open loop systems; Optimal control; Signal design; Sliding mode control; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory, 1996., Proceedings of the Twenty-Eighth Southeastern Symposium on

Conference_Location

Baton Rouge, LA

ISSN

0094-2898

Print_ISBN

0-8186-7352-4

Type

conf

DOI

10.1109/SSST.1996.493509

Filename

493509