Sliding mode based controller for a flexible arm with a load

Metin Bogosyan, Seta Gokasan, Ara Arabyan, Asif Sabanovic

Research output: Contribution to conferencePaper

5 Scopus citations

Abstract

This study is about the chattering-free sliding mode based control of a single link flexible arm with a mass at the endpoint. The model for this system is obtained using Lagrange's method and the control is developed aiming the angular position of the hub unit to follow a desired trajectory, while the strain is forced to be zero. Experimental results obtained on a DSP32 based single link arm system with and without control on the strain, demonstrate the improved performance caused by the strain control in terms of the transient and steady state and robustness.

Original languageEnglish (US)
Pages1083-1087
Number of pages5
StatePublished - Jan 1 1998
Externally publishedYes
EventProceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) - Aachen, Ger
Duration: Aug 31 1998Sep 4 1998

Other

OtherProceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4)
CityAachen, Ger
Period8/31/989/4/98

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Bogosyan, M., Gokasan, S., Arabyan, A., & Sabanovic, A. (1998). Sliding mode based controller for a flexible arm with a load. 1083-1087. Paper presented at Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4), Aachen, Ger, .