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Title: Synthesized sliding mode control of a single-link flexible robot
Authors: Xu, J.-X. 
Cao, W.-J.
Issue Date: 15-Feb-2000
Citation: Xu, J.-X., Cao, W.-J. (2000-02-15). Synthesized sliding mode control of a single-link flexible robot. International Journal of Control 73 (3) : 197-209. ScholarBank@NUS Repository.
Abstract: This paper proposes a synthesized sliding mode controller using frequency shaping and terminal attractor methods for single-link r-mode flexible robotic manipulators. The frequency shaping technique is used to suppress the inherent resonance modes of the flexible manipulator, while terminal attractor is used to expedite the convergence of the sliding mode near the equilibrium and to reduce steady state error. The asymptotical stability of the synthesized sliding mode is proven by using Popov'S criterion. Numerical simulations confirm the effectiveness and robustness of the proposed sliding mode controller.
Source Title: International Journal of Control
ISSN: 00207179
DOI: 10.1080/002071700219740
Appears in Collections:Staff Publications

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