Robust control for a flexible-link manipulator using sliding mode techniques and nonlinear H control design methods

D. Hisseine, B. Lohmann

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

15 Scopus citations

Abstract

In this paper, two nonlinear robust controllers for a flexible-link manipulator are presented. These controllers are derived using both sliding mode techniques and nonlinear H control methodologies. The effectiveness of the presented control law are shown by simulations and experiments carried out with the flexible robot arm, an experimental setup available in our Institute Laboratory. The problem of disturbances rejection and disturbances attenuation by handling plant uncertainties due to parameter deviations (and others) is addressed respectively in appropriate way by two different robust control techniques and illustrated by the nonlinear plant under consideration.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3865-3870
Number of pages6
ISBN (Print)0780365763
DOIs
StatePublished - 2001
Externally publishedYes
Event2001 IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: 21 May 200126 May 2001

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume4
ISSN (Print)1050-4729

Conference

Conference2001 IEEE International Conference on Robotics and Automation (ICRA)
Country/TerritoryKorea, Republic of
CitySeoul
Period21/05/0126/05/01

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