Application of eventual sliding-mode technique in flexible arm control

摘要

In this paper, we consider an one-link flexible arm of length L. One end of the arm is attached to a motor shaft with the arm axis perpendicular to the motor shaft axis and the other end is attached by a payload. The main purpose of the controller design is the supression of the generation of oscillations during control of angular position. We propose in this paper, a eventual sliding-mode controller with a non-linear observer and confirm its effectiveness through experimental investigations.