한국소음진동공학회:학술대회논문집 (Proceedings of the Korean Society for Noise and Vibration Engineering Conference)
- 한국소음진동공학회 2001년도 추계학술대회논문집 I
- /
- Pages.219-224
- /
- 2001
- /
- 1598-2548(pISSN)
외란 추정기를 이용한 유연 매니퓰레이터의 선단 위치제어
Tip Position Control of Flexible Manipulator Using Disturbance Estimator
초록
An accurate tip position control of a single-link flexible manipulator subjected to torque disturbance is achieved by utilizing so called sliding mode controller with disturbance estimation (SMCDE). After formulating the governing equation of motion in the state 1pace representation, a stable sliding surface is designed via the LQR method. The SMCDE is then synthesized by integrating equivalent sliding mode controller with the disturbance estimator which is featured by an integrated average value of the imposed disturbance over a certain sampling period. The regulating tip motion of the flexible manipulator is evaluated by employing the proposed SMCDE.
키워드