Sliding mode observer and controller for a single link flexible arm

Metin Gokasan, O. Seta Bogosyan, Asif Sabanovic, Ara Arabyan

Research output: Contribution to journalConference article

6 Scopus citations

Abstract

A sliding mode based controller was designed to achieve the end-point tracking of a flexible arm, with minimum transient and steady-state error. The information on deflection is derived through a sliding mode observer, providing data on the variables, q1 and q2 and their derivatives. The sliding mode technique utilized both for the observer and the controller provides robustness against the nonlinearities and uncertainties of the system.

Original languageEnglish (US)
Pages (from-to)3625-3626
Number of pages2
JournalProceedings of the IEEE Conference on Decision and Control
Volume4
StatePublished - Dec 1 1998
Externally publishedYes
EventProceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA
Duration: Dec 16 1998Dec 18 1998

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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