Sliding mode observer and controller for a single link flexible arm

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

Research output: Chapter in Book/Report/Conference proceedingChapter

6 Citations (Scopus)

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)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherIEEE
Pages3625-3626
Number of pages2
Volume4
StatePublished - 1998
Externally publishedYes
EventProceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA
Duration: Dec 16 1998Dec 18 1998

Other

OtherProceedings of the 1998 37th IEEE Conference on Decision and Control (CDC)
CityTampa, FL, USA
Period12/16/9812/18/98

Fingerprint

Controllers
Control nonlinearities
Robustness (control systems)
Derivatives
Uncertainty

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Gokasan, M., Bogosyan, O. S., Sabanovic, A., & Arabyan, A. . (1998). Sliding mode observer and controller for a single link flexible arm. In Proceedings of the IEEE Conference on Decision and Control (Vol. 4, pp. 3625-3626). IEEE.

Sliding mode observer and controller for a single link flexible arm. / Gokasan, Metin; Bogosyan, O. Seta; Sabanovic, Asif; Arabyan, Ara -.

Proceedings of the IEEE Conference on Decision and Control. Vol. 4 IEEE, 1998. p. 3625-3626.

Research output: Chapter in Book/Report/Conference proceedingChapter

Gokasan, M, Bogosyan, OS, Sabanovic, A & Arabyan, A 1998, Sliding mode observer and controller for a single link flexible arm. in Proceedings of the IEEE Conference on Decision and Control. vol. 4, IEEE, pp. 3625-3626, Proceedings of the 1998 37th IEEE Conference on Decision and Control (CDC), Tampa, FL, USA, 12/16/98.
Gokasan M, Bogosyan OS, Sabanovic A, Arabyan A. Sliding mode observer and controller for a single link flexible arm. In Proceedings of the IEEE Conference on Decision and Control. Vol. 4. IEEE. 1998. p. 3625-3626
Gokasan, Metin ; Bogosyan, O. Seta ; Sabanovic, Asif ; Arabyan, Ara -. / Sliding mode observer and controller for a single link flexible arm. Proceedings of the IEEE Conference on Decision and Control. Vol. 4 IEEE, 1998. pp. 3625-3626
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