Robust vibration control of a flexible arm subjected to torque disturbance

Title
Robust vibration control of a flexible arm subjected to torque disturbance
Authors
Choi, S.B.
Keywords
sliding mode control, perturbation estimator
Issue Date
2006-02
Publisher
PROFESSIONAL ENGINEERING PUBLISHING LTD
Abstract
This paper presents a perturbation estimator in sliding mode control system and applies it to vibration control of a flexible arm subjected to torque disturbance. The proposed estimator is featured by an integrated average value of the imposed perturbation over a certain sampling period. By implementing this type of estimator, undesirable chattering phenomenon can be effectively alleviated in the estimation process. In addition, the proposed method offers a flexibility for tuning the ratio of the estimation sampling time to the control input sampling time. In order to demonstrate the effectiveness of the proposed methodology, a single-link flexible arm is constructed. After formulating the governing equation of motion, a sliding mode controller which is integrated with the proposed estimator is designed. Vibration control performances of the flexible arm subjected to sinusoidal torque disturbances are evaluated through both computer simulation and experimental realization.
URI
http://dspace.inha.ac.kr/handle/10505/1699
ISSN
0954-4062
Appears in Collections:
College of Engineering(공과대학) > Mechanical Engineering(기계공학) > Journal Papers, Reports(기계공학 논문, 보고서)
Files in This Item:
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