Variable structure control of a single-link flexible arm robot

Tarunraj Singh; M. F. Golnaraghi; R. N. Dubey

doi:10.23919/acc.1990.4790824

Variable structure control of a single-link flexible arm robot

Tarunraj Singh
, M. F. Golnaraghi
, R. N. Dubey

Department of Mechanical and Aerospace Engineering

University of Waterloo

Research output: Contribution to journal › Conference article › peer-review

Abstract

The application of the variable-structure control technique for the control of a single-link flexible-arm robot is discussed. The assumed mode method is used to arrive at a model for the robot. The necessary and sufficient conditions for the existence of a sliding regime on any hyperplane σ = 0 are arrived at for a system with n degrees of freedom. The selection of the hyperplane is based on the eigenvalues to be associated with the sliding modes. The control law developed is robust and can handle small variations in parameters and small disturbances. Numerical simulation is carried out on a flexible-arm robot to demonstrate the success of the technique in controlling flexible-arm robots.

Original language	English
Pages (from-to)	702-703
Number of pages	2
Journal	Proceedings of the American Control Conference
DOIs	https://doi.org/10.23919/acc.1990.4790824
State	Published - 1990
Event	Proceedings of the 1990 American Control Conference - San Diego, CA, USA Duration: May 23 1990 → May 25 1990

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title = "Variable structure control of a single-link flexible arm robot",

abstract = "The application of the variable-structure control technique for the control of a single-link flexible-arm robot is discussed. The assumed mode method is used to arrive at a model for the robot. The necessary and sufficient conditions for the existence of a sliding regime on any hyperplane σ = 0 are arrived at for a system with n degrees of freedom. The selection of the hyperplane is based on the eigenvalues to be associated with the sliding modes. The control law developed is robust and can handle small variations in parameters and small disturbances. Numerical simulation is carried out on a flexible-arm robot to demonstrate the success of the technique in controlling flexible-arm robots.",

author = "Tarunraj Singh and Golnaraghi, \{M. F.\} and Dubey, \{R. N.\}",

year = "1990",

doi = "10.23919/acc.1990.4790824",

language = "English",

pages = "702--703",

journal = "Proceedings of the American Control Conference",

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note = "Proceedings of the 1990 American Control Conference ; Conference date: 23-05-1990 Through 25-05-1990",

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TY - JOUR

T1 - Variable structure control of a single-link flexible arm robot

AU - Singh, Tarunraj

AU - Golnaraghi, M. F.

AU - Dubey, R. N.

PY - 1990

Y1 - 1990

N2 - The application of the variable-structure control technique for the control of a single-link flexible-arm robot is discussed. The assumed mode method is used to arrive at a model for the robot. The necessary and sufficient conditions for the existence of a sliding regime on any hyperplane σ = 0 are arrived at for a system with n degrees of freedom. The selection of the hyperplane is based on the eigenvalues to be associated with the sliding modes. The control law developed is robust and can handle small variations in parameters and small disturbances. Numerical simulation is carried out on a flexible-arm robot to demonstrate the success of the technique in controlling flexible-arm robots.

AB - The application of the variable-structure control technique for the control of a single-link flexible-arm robot is discussed. The assumed mode method is used to arrive at a model for the robot. The necessary and sufficient conditions for the existence of a sliding regime on any hyperplane σ = 0 are arrived at for a system with n degrees of freedom. The selection of the hyperplane is based on the eigenvalues to be associated with the sliding modes. The control law developed is robust and can handle small variations in parameters and small disturbances. Numerical simulation is carried out on a flexible-arm robot to demonstrate the success of the technique in controlling flexible-arm robots.

UR - https://www.scopus.com/pages/publications/0025420691

U2 - 10.23919/acc.1990.4790824

DO - 10.23919/acc.1990.4790824

M3 - Conference article

AN - SCOPUS:0025420691

SN - 0743-1619

SP - 702

EP - 703

JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

T2 - Proceedings of the 1990 American Control Conference

Y2 - 23 May 1990 through 25 May 1990

ER -

Variable structure control of a single-link flexible arm robot

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