标题: | Sliding-mode control of a twin-body system with 2-relative-RDOF to achieve desired landing postures |
作者: | Yang, Yi-Ling Yang, Chen Cheng Chao, Paul C. -P. Sung, Cheng-Kuo 电控工程研究所 Institute of Electrical and Control Engineering |
公开日期: | 2007 |
摘要: | This study is dedicated to accomplish landing posture control of a twin-body system with 2-relative rotation degree of freedom (RDOF) using method of sliding control. The twin-body system is simplified model of a cellular phone with two relative RDOF, the inclination between two bodies and rotation through self-axis. The objective of the research is controlling the landing posture without structural damage. First, the equations governing the dynamics of the twin-body system are essential based on the Lagrange-Euler formulation. The damping uncertainty caused by the actuators with bearing would be considered, and the robust controller is designed based on the sliding control and applied to achieve the control object. Finally the controller performance is validated by MATLAB simulations. The results shown that the designed controller is capable of performing lading control, and the relations between dynamics responses and control variables are discussed. |
URI: | http://dx.doi.org/10.1109/IECON.2007.4460044 http://hdl.handle.net/11536/134466 |
ISBN: | 978-1-4244-0783-5 |
ISSN: | 1553-572X |
DOI: | 10.1109/IECON.2007.4460044 |
期刊: | IECON 2007: 33RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, CONFERENCE PROCEEDINGS |
起始页: | 563 |
结束页: | + |
显示于类别: | Conferences Paper |