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Title: A quasi-tracking approach for finite-time control of a mass-beam system
Authors: Zhu, G.
Ge, S.S. 
Keywords: Flexible arm
Terminal sliding mode control
Issue Date: Jul-1998
Citation: Zhu, G.,Ge, S.S. (1998-07). A quasi-tracking approach for finite-time control of a mass-beam system. Automatica 34 (7) : 881-888. ScholarBank@NUS Repository.
Abstract: This paper presents an approach for finite-time control of a distributed-parameter system: a flexible beam connected to a translational mass. A quasi-tracking variable is introduced, and a terminal sliding mode controller is developed to achieve finite-time convergence of the quasi-tracking variable to a properly pre-defined trajectory. This subsequently provides a set of boundary conditions to explicitly solve the corresponding boundary-value problem and prove finite-time regulation. End-point tracking control is also investigated. It is shown that the error between the end point of the beam and the pre-defined trajectory, though does not decay to zero, is always bounded by a small time-varying bound. A method to reduce the error bound is also given. The approach does not invoke any model truncation procedure, hence the problem of observation/control spillovers, which exists in the conventional truncated-modelbased controller design methods, is essentially avoided. Satisfactory simulation results are provided to demonstrate the effectiveness of the presented approach. © 1998 Elsevier Science Ltd. All rights reserved.
Source Title: Automatica
ISSN: 00051098
Appears in Collections:Staff Publications

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