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Title: Sliding mode control of a single-link flexible robot arm robust to payload variations
Authors: Lee, CK
Hu, YM
Issue Date: 2000
Publisher: AMSE Press, Tassin-la-Demi-Lune, France
Source: Modelling, measurement and control b, 2000, v. 69, no. 5-6, p. 1-21 How to cite?
Journal: Modelling, Measurement and Control B 
Abstract: This paper addresses the robust control problem for a single-link flexible robot arm with uncertain payload variations. A linear state-space model is obtained using the method of separation of variables. Some novel properties of natural frequencies and hub modal slope coefficients are then presented to evaluate the possible deviations of system parameters, and the admissible extent of payload is thus obtained approximately to guarantee the dominance of the nominal 'input' parameters. Furthermore, a robust sliding mode controller is designed to guarantee that, for a large extent of payload variations, the controlled modes have good dynamic response and the residual modes remain closed-loop stability. Finally, simulation results are presented to illustrate the effectiveness of the proposed methods.
ISSN: 1259-5969
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