Combining sliding-mode and optimal methods for experiments on controlling a single-link flexible arm

Author

Etxebarria, V. ; Lizarraga, I. ; Sanz, A.

Author_Institution

Dipt. de Electricidad y Electron., Univ. Politecnica de Valencia

Volume

15

fYear

2004

fDate

June 28 2004-July 1 2004

Firstpage

75

Lastpage

80

Abstract

This paper presents a combined control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. The rigid dynamics is controlled by means of a robust sliding-mode approach with well-established stability properties while an LQR optimal design is adopted for the flexible dynamics. Experimental results on a laboratory single flexible arm show that this composite approach achieves good closed loop tracking properties both for the rigid and the flexible dynamics

Keywords

closed loop systems; control system synthesis; flexible manipulators; linear quadratic control; manipulator dynamics; robust control; tracking; variable structure systems; closed loop tracking properties; flexible dynamics; flexible link robotic manipulators; flexible mechanical structure; linear quadratic regulator control; optimal methods; rigid dynamics; robust control; single link flexible arm; sliding mode control; stability; Arm; Laboratories; Manipulator dynamics; Mathematical model; Optimal control; Robots; Robust control; Robust stability; Sliding mode control; Tracking loops;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation Congress, 2004. Proceedings. World

Conference_Location

Seville

Print_ISBN

1-889335-21-5

Type

conf

Filename

1438533