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

Aerospace and Mechanical Engineering

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

9 Scopus citations

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

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Cite this

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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 (US)",

volume = "4",

pages = "3625--3626",

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

issn = "0191-2216",

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.

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M3 - Conference article

SN - 0191-2216

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

ASJC Scopus subject areas

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