DocumentCode
489014
Title
Variable Structure Control of Rigid-Flexible Closed-Chain Systems
Author
Xu, Jian-Xin ; Boesch, Mathew A. ; Özgüner, Ümit ; Young, K.David
Author_Institution
The Ohio State University, Department of Electrical Engineering, Columbus, Ohio 43210
fYear
1991
fDate
26-28 June 1991
Firstpage
1903
Lastpage
1908
Abstract
This paper describes the control of rigid-flexible closed chain systems using Variable Structure Control. Particularly a configuration called the Rapid Deployment Truss (RDT) structure will be analysed. The insertion of a frequency shaping filter is introduced into the feedback loop, so that high frequency vibrational modes are less excited due to the switching phenomena inherent in such controllers. The controller is a result of a quadratic regulator problem in conjunction with sliding mode design. A numerical simulation suggests validity of the modeling method and effectiveness of the control.
Keywords
Control systems; Electric variables control; Equations; Filters; Frequency; Jacobian matrices; Manipulator dynamics; Regulators; Sliding mode control; State-space methods;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1991
Conference_Location
Boston, MA, USA
Print_ISBN
0-87942-565-2
Type
conf
Filename
4791717
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