Sliding-Mode/Shaped-Input Control of Flexible/Rigid Link Robots


Singh, T., Golnarahi, M. F., & Dubey, R. N.


Journal of Sound and Vibration, 171(2), 185-200, 1994.


A controller for a flexible/rigid link robot is designed using the sliding-mode and shaped-input concepts. The controller for the rigid body motion is designed to serve two purpose: it forces the state trajectory into a preselected sliding surface and then guides it to the state space origin. The shaped-input controller is designed for the control of the flexible motion which requires information about the natural frequency and damping of the linearized system. This information is used to discredits the input so that minimum energy is injected via the controller to the flexible modes of the structure. The controller is tested successfully on an experimental flexible link robot.

   Author = {T. Singh, M. F. Golnaraghi and R. N. Dubey},
   Journal = {Journal of Sound and Vibration},
   Month = {Nov.},
   Pages = {185-200},
   Title = {Sliding Mode/Shaped Input Control of Flexible/Rigid Link Robots},
   Volume = {171},
   Number = {2},
   Year = {1994}