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|Title:||Variable structure controller design for flexible-link robots under gravity|
Ang Jr., M.H.
|Source:||Yang, H.,Krishnan, H.,Ang Jr., M.H. (1998). Variable structure controller design for flexible-link robots under gravity. Proceedings of the IEEE Conference on Decision and Control 2 : 1494-1499. ScholarBank@NUS Repository.|
|Abstract:||This paper presents an approach for the design of a nonlinear variable structure controller (VSC) for the joint regulation and vibration control of flexible-link robots under gravity. We propose a linear state-variable transformation for the system dynamics. The system dynamics expressed in the new state variables enables us to consider VSC design and vibration suppression separately. A modified sliding surface is introduced to damp out vibration in the flexible-link robot. Stability of the closed-loop system is proved. Simulation results show that the VSC can provide good joint angle regulation and can effectively damp out vibration in flexible-link robots.|
|Source Title:||Proceedings of the IEEE Conference on Decision and Control|
|Appears in Collections:||Staff Publications|
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