標題: 改良型順滑模態控制應用在有限元素法模式之單臂撓性臂
Modified Sliding-Mode Control Applied to FEM-based Single-link Arm
作者: 許懷德
Hsu, Huai Te
陳永平
Chen, Yong-Ping
電控工程研究所
關鍵字: 撓性臂;有限元素法;順滑模態控制;可變結構系統;自動控制工程;控制工程;電腦;Flexible arm;FEM;Sliding-mode control;Variable structure system;AUTOMATED-CONTROL-ENGINEERING;CONTROL-ENGINEERING;COMPUTER
公開日期: 1996
摘要: This paper introduces the modified sliding-mode controller design of a FEM-based single-link flexible arm with uncertain tip payload. The modeling based on the FEM is suitable for diverse flexible structures. Besides, the FEM is more accurate and much easier than the AMM. In the work of Yeung and [3,4], a robust sliding-mode controller was successfully developed to control an AMM-based single flexible arm model. Here, following up their work, it will be shown that the FEM-based model of a single flexible arm and then propose a modified robust sliding- mode controller. This controller retains the robustness for the uncertain payload and the ability in eliminating the matching type external disturbance. From the simulation results, it can be concluded that the modified sliding-mode controller for regulation and ramp-tracking problems is succeeded by employed into the plant.
URI: http://140.113.39.130/cdrfb3/record/nctu/#NT854327001
http://hdl.handle.net/11536/62474
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