A Two-Level Sliding-Mode Approach to Position Control of Flexible Arms

Hiromasa Tanaka; Kazushi Nakano; Umerujan Sawut

doi:10.11499/sicep.2002.0.667.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.667.0

会議情報

主催: The Society of Instrument and Control Engineers

共催: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

A Two-Level Sliding-Mode Approach to Position Control of Flexible Arms

Hiromasa Tanaka, Kazushi Nakano, Umerujan Sawut

著者情報

キーワード: Sliding Mode, Flexible Arm, Genetic Algorithm

会議録・要旨集フリー

p. 667

詳細

抄録

This paper presents a control strategy with Two-Level Sliding-Mode for positioning flexible arms. “Two-Level” is advantageous to digitization of the moter driver. The Genetic Algorithm is used for estimating system parameters and designing the controller. The validity of the proposed approach is shown by simulations and experiments.

責任著者(Corresponding author)

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