DocumentCode
2005168
Title
A two-switching surface variable structure control scheme for a flexible manipulator
Author
Cheung, Fritz C K ; Fung, Eric H K ; Leung, T.P.
Author_Institution
Dept. of Mech. & Marine Eng., Hong Kong Polytech., Hung Hom, Hong Kong
Volume
1
fYear
1995
fDate
21-23 Jun 1995
Firstpage
830
Abstract
A novel control scheme for the flexible manipulator based on variable structure system theory is proposed and tested. The controller shows the robustness towards the variation of the system parameters. Also the performance of the controller can be tuned easily without complicated calculation for stability. Experimental results are presented and they are compared with those obtained from the hybrid proportional controller which is based on the optimal control scheme
Keywords
flexible structures; manipulators; optimal control; robust control; variable structure systems; calculation; controller performance; flexible manipulator; hybrid proportional controller; optimal control; robustness; stability; system parameters; tuning; two-switching surface variable structure control; Damping; Manipulator dynamics; Mechanical variables control; Optimal control; Payloads; Process control; Robots; Robust control; Uncertainty; Vibration control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, Proceedings of the 1995
Conference_Location
Seattle, WA
Print_ISBN
0-7803-2445-5
Type
conf
DOI
10.1109/ACC.1995.529365
Filename
529365
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