Accession Number:

ADA242714

Title:

Sliding Control Design and Implementation on a Single-Link Flexible Arm

Descriptive Note:

Master's thesis,

Corporate Author:

NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s):

Report Date:

1990-12-01

Pagination or Media Count:

128.0

Abstract:

The sliding model control is known as a robust control that is able to work under the uncertainties of modeling error and the environmental disturbances. The objective of this research is to design the simple control sliding control algorithms for a single-link flexible arm and to study the robustness due to varying payload. A general form of physical plant in state space is formulated. To achieve a continuous control, a time-varying boundary layer was introduced into the control system neighboring the sliding surface. The computer simulation program was coded in MATLAB. A low-cost IBM-AT micro- computer was utilized to implement the sliding control on the flexible arm system. Author

Subject Categories:

  • Computer Systems
  • Mechanics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE