Earticle

초록

영어

This paper presents investigations into the development of a Proportional-Integral Sliding Mode Control (PI-SMC) for trajectory tracking and vibration control of a flexible single link manipulator. The motor at the single rotating joint is the control actuator. Two SMC control laws are reviewed. The classical discontinuous control based on the signum function and a modified control law where the servomotor output voltage depends on the instantaneous values of the states. The selection of the discontinuity gain is reviewed for exact model (certain case) as well as when the parameter variations are present (uncertain case). To prove the reaching condition, we use the Lyapunov stability criteria. It is proven that this design is equivalent to a full state feedback with its steady state motion constrained to the sliding hyper-surfaces. Simulation results of the response of the flexible manipulator with both controllers are presented. The performances of the control schemes are examined for input tracking capability, level of vibration reduction and time response specifications. A comparative assessment of both control techniques shows the effectiveness of the second control law and its invariance to so-called matched uncertainty.

목차

Abstract
 1. Introduction
 2. Mathematical Model
  2.1. Flexible Arm Modeling
  2.2. Servomotor Modeling
  2.3. Global System of Equations
 3. Vibration Reduction using Sliding Mode Control
  3.1. Reference Trajectory
  3.2. First Control Law (Certain Model)
  3.3. Second Control Law (Uncertain Model)
 4. Simulation Results
 5. Conclusion
 References

키워드

저자

• Mohammed Rachidi [ Moulay Ismaïl University, Ecole Nationale Supérieure d’Arts et Métiers, BP 4024, Marjane II, Beni Hamed, 50000, Meknès, Morocco ]
• Badr Bououlid Idrissi [ Moulay Ismaïl University, Ecole Nationale Supérieure d’Arts et Métiers, BP 4024, Marjane II, Beni Hamed, 50000, Meknès, Morocco ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605