Synthesized sliding mode control of a single-link flexible robot

被引：25

作者：

Xu, JX ^{[1
]}

Cao, WJ ^{[1
]}

机构：

[1] Natl Univ Singapore, Dept Elect Engn, Singapore 119260, Singapore

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2000年 / 73卷 / 03期

关键词：

D O I：

10.1080/002071700219740

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a synthesized sliding mode controller using frequency shaping and terminal attractor methods for single-link r-mode flexible robotic manipulators. The frequency shaping technique is used to suppress the inherent resonance modes of the flexible manipulator, while terminal attractor is used to expedite the convergence of the sliding mode near the equilibrium and to reduce steady state error. The asymptotical stability of the synthesized sliding mode is proven by using Popov's criterion. Numerical simulations confirm the effectiveness and robustness of the proposed sliding mode controller.

引用

页码：197 / 209

页数：13

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