Application of Non-linear Observer in Flexible Arm Control

• SAWUT Umerujan

  Faculty of Engineering, Kyushu Institute of Technology

• UMEDA Nobuhiro

  Yaskawa Electric Corporation

• HANAMOTO Tsuyoshi

  Faculty of Engineering, Kyushu Institute of Technology

• TSUJI Teruo

  Faculty of Engineering, Kyushu Institute of Technology

Bibliographic Information

Other Title

• 非線形オブザーバを用いたフレキシブルアームの制振制御
• ヒセンケイ オブザーバ オ モチイタ フレキシブルアーム ノ セイシン セイギョ

Abstract

In this paper, we consider an one-link flexible arm of length L. One end of the arm is attached to a motor with the arm axis perpendicular to the motor axis and the other end is attached with a payload. The main purpose is the supression of generation of oscillation in controlling angular position. For the method of control, the sliding-mode control method is applied. Also, a non-linear observer is incorporated with the controller where the observer gains are designed by pole placement method. Finally, simulation results using MATLAB and experimental results are shown for the confirmation of effectiveness of the sliding-mode controller with the non linear observer incorporated.

Journal

• Transactions of the Society of Instrument and Control Engineers

  Transactions of the Society of Instrument and Control Engineers 35 (3), 401-406, 1999

  The Society of Instrument and Control Engineers

Keywords

• non-linear observer
• pole placement method
• sliding-mode control

Details

• CRID: 1390282679477758592
• NII Article ID: 130003791493
• NII Article ID: 10002481492
• NII Book ID: AN00072392
• DOI: 10.9746/sicetr1965.35.401
• ISSN: 18838189
• ISSN: 04534654
• NDL BIB ID: 4687750
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4687750
• Web Site: https://www.jstage.jst.go.jp/article/sicetr1965/35/3/35_3_401/_pdf
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• Abstract License Flag: Disallowed