Hybrid Sliding Mode Control with Optimization for Flexible Manipulator under Fast Motion
The modeling and vibration analysis of a flexible manipulator considering a nonlinearity and effect from the gravity imply a singular problem. In order to avoid the singularity, the dynamic equation is decomposed into two subsystems, including flexible dynamic subsystem and rigid dynamic subsystem. A combined feed feed-forward and feedback orward control scheme is pr presented esented to design the controller of the flexible manipulator. In the combined control, an optimization is applied to obtain the desired trajectory based on the flexible dynamic subsystem subsystem. As we know, the optimization is dependent on the accuracy of model but there are in inevitabl evitably errors of y model and external disturbance disturbances. The he feedback control is expected with high robustness and fast convergence to overcome the problem problem. In order to i n improve mprove the performance of control, a hybrid sliding mode control (HySMC) is proposed to track the desired trajectory and further suppress the residual vibration. This paper presents the theoretical derivation and experimental verification of the proposed controller.
Haibin Yin Yukinori Kobayashi Yohei Hoshino Takanori Emaru
School of Engineering,Hokkaido University University,Sapporo Sapporo,Japan
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
458-463
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）