High order sliding mode control of a space robot manipulator

Aydemir Arisoy; M. Kemal Bayrakceken; Suleyman Basturk; Metin Gokasan; O. Seta Bogosyan

doi:10.1109/RAST.2011.5966960

High order sliding mode control of a space robot manipulator

Aydemir Arisoy^*, M. Kemal Bayrakceken, Suleyman Basturk, Metin Gokasan, O. Seta Bogosyan

^*Corresponding author for this work

Department of Control and Automation Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

30 Citations (Scopus)

Abstract

In this study, a high-order sliding mode controller (HOSMC) is designed for the control of a one degree-of-freedom (DOF) flexible link space robotic arm with payload. The high-order sliding mode based controller is developed, which exploit the robustness properties of sliding-mode controllers (SMCs), while also increasing accuracy by reducing chattering effects.

Original language	English
Title of host publication	RAST 2011 - Proceedings of 5th International Conference on Recent Advances in Space Technologies
Pages	833-838
Number of pages	6
DOIs	https://doi.org/10.1109/RAST.2011.5966960
Publication status	Published - 2011
Event	5th International Conference on Recent Advances in Space Technologies, RAST 2011 - Istanbul, Turkey Duration: 9 Jun 2011 → 11 Jun 2011

Publication series

Name	RAST 2011 - Proceedings of 5th International Conference on Recent Advances in Space Technologies

Conference

Conference	5th International Conference on Recent Advances in Space Technologies, RAST 2011
Country/Territory	Turkey
City	Istanbul
Period	9/06/11 → 11/06/11

Keywords

flexible-link robotic arm
High order sliding mode control
Sliding mode control
structural flexibilities
underactuated systems

Access to Document

10.1109/RAST.2011.5966960

Cite this

Arisoy, A., Bayrakceken, M. K., Basturk, S., Gokasan, M., & Bogosyan, O. S. (2011). High order sliding mode control of a space robot manipulator. In RAST 2011 - Proceedings of 5th International Conference on Recent Advances in Space Technologies (pp. 833-838). Article 5966960 (RAST 2011 - Proceedings of 5th International Conference on Recent Advances in Space Technologies). https://doi.org/10.1109/RAST.2011.5966960

@inproceedings{44672c9bec1a477986af25dad080fcbd,

title = "High order sliding mode control of a space robot manipulator",

abstract = "In this study, a high-order sliding mode controller (HOSMC) is designed for the control of a one degree-of-freedom (DOF) flexible link space robotic arm with payload. The high-order sliding mode based controller is developed, which exploit the robustness properties of sliding-mode controllers (SMCs), while also increasing accuracy by reducing chattering effects.",

keywords = "flexible-link robotic arm, High order sliding mode control, Sliding mode control, structural flexibilities, underactuated systems",

author = "Aydemir Arisoy and Bayrakceken, {M. Kemal} and Suleyman Basturk and Metin Gokasan and Bogosyan, {O. Seta}",

year = "2011",

doi = "10.1109/RAST.2011.5966960",

language = "English",

isbn = "9781424496143",

series = "RAST 2011 - Proceedings of 5th International Conference on Recent Advances in Space Technologies",

pages = "833--838",

booktitle = "RAST 2011 - Proceedings of 5th International Conference on Recent Advances in Space Technologies",

note = "5th International Conference on Recent Advances in Space Technologies, RAST 2011 ; Conference date: 09-06-2011 Through 11-06-2011",

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Arisoy, A, Bayrakceken, MK, Basturk, S, Gokasan, M & Bogosyan, OS 2011, High order sliding mode control of a space robot manipulator. in RAST 2011 - Proceedings of 5th International Conference on Recent Advances in Space Technologies., 5966960, RAST 2011 - Proceedings of 5th International Conference on Recent Advances in Space Technologies, pp. 833-838, 5th International Conference on Recent Advances in Space Technologies, RAST 2011, Istanbul, Turkey, 9/06/11. https://doi.org/10.1109/RAST.2011.5966960

High order sliding mode control of a space robot manipulator. / Arisoy, Aydemir; Bayrakceken, M. Kemal; Basturk, Suleyman et al.
RAST 2011 - Proceedings of 5th International Conference on Recent Advances in Space Technologies. 2011. p. 833-838 5966960 (RAST 2011 - Proceedings of 5th International Conference on Recent Advances in Space Technologies).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this study, a high-order sliding mode controller (HOSMC) is designed for the control of a one degree-of-freedom (DOF) flexible link space robotic arm with payload. The high-order sliding mode based controller is developed, which exploit the robustness properties of sliding-mode controllers (SMCs), while also increasing accuracy by reducing chattering effects.

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Arisoy A, Bayrakceken MK, Basturk S, Gokasan M, Bogosyan OS. High order sliding mode control of a space robot manipulator. In RAST 2011 - Proceedings of 5th International Conference on Recent Advances in Space Technologies. 2011. p. 833-838. 5966960. (RAST 2011 - Proceedings of 5th International Conference on Recent Advances in Space Technologies). doi: 10.1109/RAST.2011.5966960

High order sliding mode control of a space robot manipulator

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