Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/58887
Title: Variable structure controller design for flexible-link robots under gravity
Authors: Yang, H.
Krishnan, H. 
Ang Jr., M.H. 
Issue Date: 1998
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
URI: http://scholarbank.nus.edu.sg/handle/10635/58887
ISSN: 01912216
Appears in Collections:Staff Publications

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