The Composite Control for Single-Link Flexible Manipulator Using Dynamic Sliding Mode and Optimal Based on Dynamic Switching

Ming Chu; Xia Deng; Qing Xuan Jia; Fei Jie Huang

doi:10.4028/www.scientific.net/AMM.275-277.707

Paper Titles

Effect of Latent Heat on Insulation Characteristics in Phase Change Roof
p.687

Wrapping Angle Compensation Model of Cold Rolling Strip Shape Signal
p.693

The Study on Detonation Front Shape of a Charge Shot by High-Speed Photography
p.697

Dimension Analysis of Dynamic Response of Cylinder Shell under Impact
p.702

The Composite Control for Single-Link Flexible Manipulator Using Dynamic Sliding Mode and Optimal Based on Dynamic Switching
p.707

Comparative Study on Rigid-Flexible Model of Oblique Impact between Cylinder and Ground
p.711

Tolerance Ring Design in the Actuator Arm of a Hard Disk Drive Using Finite Element Analysis
p.716

Stress and Strain Analysis of SRM Based on Monitored Shipboard Service Environment
p.731

Research on Failure Trend of Lifter on Basis of Static Strength Analysis
p.736

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 275-277The Composite Control for Single-Link Flexible...

The Composite Control for Single-Link Flexible Manipulator Using Dynamic Sliding Mode and Optimal Based on Dynamic Switching

Abstract:

A composite controller is designed based on the singular perturbation model of single-link flexible manipulators. A dynamic sliding mode controller is designed for the slow subsystem, and optimal controller is designed to stabilize the fast subsystem. Numerical simulation results confirm that the proposed controller not only can perform fast and accurate tracking, but also can reduce the chattering of the sliding-mode control, and the proposed controller can suppress the tip vibration of the flexible manipulator effectively.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 275-277)

Pages:

707-710

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.275-277.707

Citation:

Cite this paper

Online since:

January 2013

Authors:

Ming Chu, Xia Deng, Qing Xuan Jia, Fei Jie Huang

Keywords:

Dynamic Sliding Mode Control, Flexible Manipulators, Optimal Control, Singular Perturbation

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] M. Tinkir, U. Onen, M. Kalyoncu: Proceedings of the Institution of Mechanical Engineers, Part I-Journal of Systems and Control Engineering. Vol. 15(2010), pp.529-543.

Google Scholar

[2] M. Chu, Q.X. Jia, P. Ye, H.X. Sun: Journal of Mechanical Engineering. Vol. 3(2012), pp.41-49.

Google Scholar

[3] A. El-badawy,M.W. Mehrez A.R. Ali: Nonlinear Dynamics. Vol. 4(2010), pp.769-779.

Google Scholar

[4] H. Talebi, R.V. Apatel, K. Khorasani: Journal of Dynamic Systems Measurement and Control-Transactions of the ASME, Vol. 2(2005), pp.289-294.

Google Scholar

[5] E. Mirzaee, M. Eghtesad, S.A. Fazelzadeh: ACTA Astronautica. Vol. 9-10 (2010), pp.1218-1232.

Google Scholar

[6] P. Boscariol, A. Gasparetto, V. Zanotto: Journal of Dynamic Systems Measurement and Control-Transactions of the ASME. Vol. 1(2010), pp.1-4.

Google Scholar

[7] M. Hamerlain: IEEE Proceedings on Control Theory and Applications. Vol. 1(2001), pp.88-96.

Google Scholar