Sliding control design and implementation on a single-link flexible arm
MetadataShow full item record
The sliding model control is known as a robust control that is able to work under the uncertainties of modeling error and the environmental disturbances. The objective of this research is to design the simple control (sliding control) algorithms for a single-link flexible arm and to study the robustness due to varying payload. A general form of physical plant in state space is formulated. To achieve a continuous control, a time-varying boundary layer was introduced into the control system neighboring the sliding surface. The computer simulation program was coded in MATLAB. A low-cost IBM-AT micro- computer was utilized to implement the sliding control on the flexible arm system.
Approved for public release; distribution is unlimited.
Showing items related by title, author, creator and subject.
Six degree of freedom vehicle controller design for the operation of an unmanned underwater vehicle in a shallow water environment. Hajosy, Michael F. (Monterey, California. Naval Postgraduate School, 1994-09);Closed loop control of an unmanned underwater vehicle (UUV) in the dynamically difficult environment of shallow water requires explicit consideration of the highly coupled nature of the governing non-linear equations of ...
Gibson, J.; Kaminski, A.; Xie, Geoffrey (2005-06);Acoustic communications provide a viable means for underwater networking. However, extreme propagation delays, limited bandwidth, and half duplex communications, with its inherent use of delay inducing collision avoidance ...
Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles Healey, Anthony J.; Lienard, David (1993-07);six degree of freedom model for the maneuvering of an underwater vehicle is used and a sliding mode autopilot is designed for the combined steering, diving, and speed control functions. In flight control a arise because ...