A two-level sliding-mode approach to position control of flexible arms

被引：0

作者：

Tanaka, H ^{[1
]}

Nakano, K ^{[1
]}

Sawut, U ^{[1
]}

机构：

[1] Univ Tokyo, Grad Sch Informat Sci & Technol, Tokyo, Japan

来源：

SICE 2002: PROCEEDINGS OF THE 41ST SICE ANNUAL CONFERENCE, VOLS 1-5 | 2002年

关键词：

slidling mode; flexible arm; genetic algorithm;

D O I：

暂无

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 presents a control strategy with Two-Level Sliding-Modo for positioning flexible arms. "Two-Level" is advautageous to digitization of the motor driver. The Genetic Algorithm is used for estimating system parameters and designing the controller. The validity of the propose approach is shown by simulations and experiments.

引用

页码：3051 / 3055

页数：5