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Sliding Mode based Position Control of a Flexible-Link Arm
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| Author(s) |
Aydemir Arisoy, Metin Gokasan, O. Seta Bogosyan |
| Abstract |
In this study, sliding mode (SM) based
partial feedback linearization (PFL) control method is
applied to a single flexible link arm (FLA) with payload. A
sliding mode based partial feedback linearization controller
is designed to achieve set point precision positioning control
for a FLA. Flexible robot arms have structural flexibilities
and resulting high number of passive degrees-of-freedom.
They cannot be decoupled due to the highly nonlinear
structure. Since exact feedback linearization control
methods cannot be applied to these systems, partial
feedback linearization control methods are suitable for the
flexible systems. For set-point control, sliding mode control
based approach is applied to achieve the precise tip position
of a single FLA. To do this, active and passive dynamics of
the system are included in a new output equation and
appropriate sliding manifold is defined using this new
output equation. Proposed control algorithm is compared
with PD based collocated PFL control method. Then, the
performance of both controllers for the tip-position
precision of a single FLA is demonstrated by simulations.
Numerical simulations of a single FLA demonstrate that the
SM based approach gives rise to a better performance than
the PD based one. |
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| Filename: | T5-604.pdf |
| Filesize: | 202.6 KB |
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| Type |
Members Only |
| Date |
Last modified 2007-03-12 by System |
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