Sliding mode observer and controller for a single link flexible arm

Metin Gokasan; O. Seta Bogosyan; Asif Sabanovic; Ara Arabyan

Sliding mode observer and controller for a single link flexible arm

Metin Gokasan^*, O. Seta Bogosyan, Asif Sabanovic, Ara Arabyan

^*Corresponding author for this work

Department of Control and Automation Engineering

Istanbul Technical University

Research output: Contribution to journal › Conference article › peer-review

9 Citations (Scopus)

Abstract

A sliding mode based controller was designed to achieve the end-point tracking of a flexible arm, with minimum transient and steady-state error. The information on deflection is derived through a sliding mode observer, providing data on the variables, q₁ and q₂ and their derivatives. The sliding mode technique utilized both for the observer and the controller provides robustness against the nonlinearities and uncertainties of the system.

Original language	English
Pages (from-to)	3625-3626
Number of pages	2
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	4
Publication status	Published - 1998
Event	Proceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA Duration: 16 Dec 1998 → 18 Dec 1998

Cite this

@article{07beb0c45f6a497882e23ca96b137f62,

title = "Sliding mode observer and controller for a single link flexible arm",

abstract = "A sliding mode based controller was designed to achieve the end-point tracking of a flexible arm, with minimum transient and steady-state error. The information on deflection is derived through a sliding mode observer, providing data on the variables, q1 and q2 and their derivatives. The sliding mode technique utilized both for the observer and the controller provides robustness against the nonlinearities and uncertainties of the system.",

author = "Metin Gokasan and Bogosyan, {O. Seta} and Asif Sabanovic and Ara Arabyan",

year = "1998",

language = "English",

volume = "4",

pages = "3625--3626",

journal = "Proceedings of the IEEE Conference on Decision and Control",

issn = "0743-1546",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) ; Conference date: 16-12-1998 Through 18-12-1998",

}

TY - JOUR

T1 - Sliding mode observer and controller for a single link flexible arm

AU - Gokasan, Metin

AU - Bogosyan, O. Seta

AU - Sabanovic, Asif

AU - Arabyan, Ara

PY - 1998

Y1 - 1998

N2 - A sliding mode based controller was designed to achieve the end-point tracking of a flexible arm, with minimum transient and steady-state error. The information on deflection is derived through a sliding mode observer, providing data on the variables, q1 and q2 and their derivatives. The sliding mode technique utilized both for the observer and the controller provides robustness against the nonlinearities and uncertainties of the system.

AB - A sliding mode based controller was designed to achieve the end-point tracking of a flexible arm, with minimum transient and steady-state error. The information on deflection is derived through a sliding mode observer, providing data on the variables, q1 and q2 and their derivatives. The sliding mode technique utilized both for the observer and the controller provides robustness against the nonlinearities and uncertainties of the system.

UR - http://www.scopus.com/inward/record.url?scp=0032273712&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:0032273712

SN - 0743-1546

VL - 4

SP - 3625

EP - 3626

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

T2 - Proceedings of the 1998 37th IEEE Conference on Decision and Control (CDC)

Y2 - 16 December 1998 through 18 December 1998

ER -

Sliding mode observer and controller for a single link flexible arm

Abstract

Other files and links

Fingerprint

Cite this