A PRACTICALLY IMPLEMENTABLE DISCRETE TIME SLIDING MODE CONTROLLER FOR FLEXIBLE MANIPULATOR

S. Thomas and Mija S. J.

References

  1. [1] J. Bontsema, R.F. Curtain, & J.M. Schumacher, Robust control of flexible systems: A case study, Automatica, 24, 1988, 177–186.
  2. [2] W.J. Book & M. Majette, Controller design for flexible distributed parameter mechanical arms via combined state space and frequency domain techniques, ASME Journal of Dynamic Systems, Measurement, and Control, 105 (4), 1983, 245–254.
  3. [3] R.H. Cannon Jr & E. Schmitz, Initial experiments on the end point control of flexible one link robot, International Journal of Robotics Research, 3, 1984, 62–75.
  4. [4] W.T. Qian & C.C.H. Ma, A new controller design for a flexible one-link manipulator, IEEE Transactions on Automatic Control, 37, 1992, 132–137.
  5. [5] S. Thomas & B. Bandyopadhyay, Comments on a new controller design for a flexible one-link manipulator, IEEE Transactions on Automatic Control, 42, 1997, 425–429.
  6. [6] A. Arisoy, M. Gokasan, & O.S. Bogosyan, Tip position control of a flexible-link arm, Proc. 9th IEEE Int. Workshop Advanced Motion Control, Istanbul, Turkey, 2006, 445–450.
  7. [7] V. Feliu, B.M. Vinagre, & C.A. Monje, Fractional control of a single-link flexible manipulator, Proc. ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, California, USA, 2005, 1–10.
  8. [8] H. Werner, Multimodel robust control by fast output sampling, an LMI approach, Automatica, 43 (2), 1996, 1625–1630.
  9. [9] C.M. Saaj, B. Bandyopadhyay, & H. Unbehauen, A new algorithm for discrete-time sliding mode control using fast output sampling feedback, IEEE Transactions on Industrial Electronics, 49, 2002, 518–523.
  10. [10] J.Y. Hung, W. Gao, & J.C. Hung, Variable structure control: A survey, IEEE Transactions on Industrial Electronics, 40 (1), 1993, 2–22.
  11. [11] W. Gao, Y. Wang, & A. Homaifa, Discrete-time variable structure control systems, IEEE Transactions on Industrial Electronics, 42 (1), 1995, 117–122.
  12. [12] H. Krishnan & M. Vidyasagar, Control of a single link flexible beam using Hankel norm based reduced order model, Proc. IEEE Int. Conf. Robotics and Control, Philadelphia, USA, 1, 1988, 9–14.
  13. [13] C.M. Saaj & B. Bandyopadhyay, Variable structure model following controller using non-dynamic multirate output feedback, International Journal of Control, 76 (13), 2003, 1263–1271.

Important Links:

Go Back