Decentralized sliding mode control of nonlinear flexible robots
- Sandia National Labs., Albuquerque, NM (United States)
- Virginia Polytechnic Inst. and State Univ., Blacksburg, VA (United States). Dept. of Engineering Science and Mechanics
A technique using augmented sliding mode control for robust, real-time control of flexible multiple link robots is presented. For the purpose of controller design, the n-link, n-joint robot is subdivided into n single joint, single link subsystems. A sliding surface for each subsystem is specified so as to be globally, asymptotically stable. Each sliding surface contains rigid-body angular velocity, angular displacement and flexible body generalized velocities. The flexible body generalized accelerations are treated as disturbances during the controller design. This has the advantage of not requiring explicit equations for the flexible body motion. The result is n single input, single output controllers acting at the n joints of the robot, controlling rigid body angular displacement and providing damping for flexible body modes. Furthermore, the n controllers can be operated in parallel so that compute speed is independent of the number of links, affording real-time, robust, control.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 10160176
- Report Number(s):
- SAND-94-0337C; CONF-940849-1; ON: DE94013790; BR: GB0103012
- Resource Relation:
- Conference: 2. international conference on motion and vibration control,Yokohama (Japan),31 Aug - 3 Sep 1994; Other Information: PBD: [1994]
- Country of Publication:
- United States
- Language:
- English
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