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

^*Bu çalışma için yazışmadan sorumlu yazar

Kontrol ve Otomasyon Mühendisliği Bölümü

Istanbul Technical University

Araştırma sonucu: Dergiye katkı › Konferans makalesi › bilirkişi

9 Atıf (Scopus)

Özet

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.

Orijinal dil	İngilizce
Sayfa (başlangıç-bitiş)	3625-3626
Sayfa sayısı	2
Dergi	Proceedings of the IEEE Conference on Decision and Control
Hacim	4
Yayın durumu	Yayınlandı - 1998
Etkinlik	Proceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA Süre: 16 Ara 1998 → 18 Ara 1998

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

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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",

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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

Özet

Diğer Dosyalar ve Linkler

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