抄録
In this paper, we consider an one-link flexible arm of length L. One end of the arm is attached to a motor with the arm axis perpendicular to the motor axis and the other end is attached with a payload. The main purpose is the supression of generation of oscillation in controlling angular position. For the method of control, the sliding-mode control method is applied. Also, a non-linear observer is incorporated with the controller where the observer gains are designed by pole placement method. Finally, simulation results using MATLAB and experimental results are shown for the confirmation of effectiveness of the sliding-mode controller with the non linear observer incorporated.
