In this paper, tip regulation of a flexible one-link manipulator by Learning Variable Structure Control (LVSC) is investigated. Switching surface is designed according to a selected reference model which relocates system poles to be negative real ones, hence link vibration is eliminated. The proposed LVSC incorporates a learning mechanism to improve regulation accuracy. Rigorous proof shows: the tracking error sequence converges uniformly to zero; the uniformly bounded learning control sequence converges to the equivalent control almost everywhere. For practical considerations, the learning mechanism is further conducted in frequency domain by means of Fourier series expansion, hence achieves better regulation performance. Numerical simulations confirm the effectiveness and robustness of the proposed approach. [S0022-0434(00)01804-9]
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December 2000
Technical Papers
A Learning Variable Structure Controller of a Flexible One-Link Manipulator
Wen-Jun Cao, Research Engineer,,
Wen-Jun Cao, Research Engineer,
Data Storage Institute, National University of Singapore, DSI Building, 5 Engineering Drive 1, Singapore 117608
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Jian-Xin Xu, Associate Professor,
Jian-Xin Xu, Associate Professor,
Electrical Engineering Department, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260
Search for other works by this author on:
Wen-Jun Cao, Research Engineer,
Data Storage Institute, National University of Singapore, DSI Building, 5 Engineering Drive 1, Singapore 117608
Jian-Xin Xu, Associate Professor,
Electrical Engineering Department, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division February 4, 2000. Associate Technical Editors: E. Misawa and V. Utkin.
J. Dyn. Sys., Meas., Control. Dec 2000, 122(4): 624-631 (8 pages)
Published Online: February 4, 2000
Article history
Received:
February 4, 2000
Citation
Cao, W., and Xu, J. (February 4, 2000). "A Learning Variable Structure Controller of a Flexible One-Link Manipulator ." ASME. J. Dyn. Sys., Meas., Control. December 2000; 122(4): 624–631. https://doi.org/10.1115/1.1318943
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