Abstract
In this paper, we investigate motion control of 1-link flexible arm using pseudo sliding-mode control by numerical simulation and experiments. In the pseudo sliding-mode control, state variables are constrained in a target subspace which consists of some eigenvectors corresponding to stable eigenvalues. In the target space, state variables converge without control input. It is confirmed that smooth and rapid motion control without chattering is possible by pseudo sliding-mode control. Furthermore, we consider applying computed torque method for a 1-link flexible arm using pseudo sliding-mode control, and rapid motion control is confirmed.
