Sliding-mode controller design of a single-link flexible manipulator under gravity

1990 ◽  
Vol 52 (1) ◽  
pp. 101-117 ◽  
Author(s):  
K. S. YEUNG ◽  
Y. P. CHEN
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Flexible Manipulator ◽  
Sliding Mode Controller ◽  
Single Link

The Composite Control for Single-Link Flexible Manipulator Using Dynamic Sliding Mode and Optimal Based on Dynamic Switching

2013 ◽  
Vol 275-277 ◽  
pp. 707-710 ◽  
Author(s):  
Ming Chu ◽  
Xia Deng ◽  
Qing Xuan Jia ◽  
Fei Jie Huang
Keyword(s):  
Sliding Mode ◽  
Flexible Manipulator ◽  
Sliding Mode Controller ◽  
Fast Subsystem ◽  
Composite Control ◽  
Dynamic Switching ◽  
Single Link ◽  
Simulation Results ◽  
Slow Subsystem ◽  
Dynamic Sliding Mode

A composite controller is designed based on the singular perturbation model of single-link flexible manipulators. A dynamic sliding mode controller is designed for the slow subsystem, and optimal controller is designed to stabilize the fast subsystem. Numerical simulation results confirm that the proposed controller not only can perform fast and accurate tracking, but also can reduce the chattering of the sliding-mode control, and the proposed controller can suppress the tip vibration of the flexible manipulator effectively.

scholarly journals Adaptive Multivariable Super-Twisting Sliding Mode Controller and Disturbance Observer Design for Hypersonic Vehicle

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Wenru Fan ◽  
Bailing Tian
Keyword(s):  
Disturbance Observer ◽  
Controller Design ◽  
Sliding Mode ◽  
Hypersonic Vehicle ◽  
Observer Design ◽  
Sliding Mode Controller ◽  
Finite Time Convergence ◽  
Gain Adaptation ◽  
Chattering Reduction ◽  
Sliding Manifold

A multivariable super-twisting sliding mode controller and disturbance observer with gain adaptation, chattering reduction, and finite time convergence are proposed for a generic hypersonic vehicle where the boundary of aerodynamic uncertainties exists but is unknown. Firstly, an input-output linearization model is constructed for the purpose of controller design. Then, the sliding manifold is designed based on the homogeneity theory. Furthermore, an integrated adaptive multivariable super-twisting sliding mode controller and disturbance observer are designed in order to achieve the tracking for step changes in velocity and altitude. Finally, some simulation results are provided to verify the effectiveness of the proposed method.

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