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

Abstract

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.