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

D. Hisseine; B. Lohmann

doi:10.1109/ROBOT.2001.933220

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

D. Hisseine, B. Lohmann

University of Bremen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 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 language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3865-3870
Number of pages	6
ISBN (Print)	0780365763
DOIs	https://doi.org/10.1109/ROBOT.2001.933220
State	Published - 2001
Externally published	Yes
Event	2001 IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of Duration: 21 May 2001 → 26 May 2001

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	4
ISSN (Print)	1050-4729

Conference

Conference	2001 IEEE International Conference on Robotics and Automation (ICRA)
Country/Territory	Korea, Republic of
City	Seoul
Period	21/05/01 → 26/05/01

Access to Document

10.1109/ROBOT.2001.933220

Cite this

Hisseine, D., & Lohmann, B. (2001). Robust control for a flexible-link manipulator using sliding mode techniques and nonlinear H_∞ control design methods. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3865-3870). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 4). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.2001.933220

Hisseine, D. ; Lohmann, B. / Robust control for a flexible-link manipulator using sliding mode techniques and nonlinear H_∞ control design methods. Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2001. pp. 3865-3870 (Proceedings - IEEE International Conference on Robotics and Automation).

@inproceedings{ce6eb0b843a74e30b19631dde224711a,

title = "Robust control for a flexible-link manipulator using sliding mode techniques and nonlinear H∞ control design methods",

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.",

author = "D. Hisseine and B. Lohmann",

year = "2001",

doi = "10.1109/ROBOT.2001.933220",

language = "English",

isbn = "0780365763",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "3865--3870",

booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

note = "2001 IEEE International Conference on Robotics and Automation (ICRA) ; Conference date: 21-05-2001 Through 26-05-2001",

}

Hisseine, D & Lohmann, B 2001, Robust control for a flexible-link manipulator using sliding mode techniques and nonlinear H_∞ control design methods. in Proceedings - IEEE International Conference on Robotics and Automation. Proceedings - IEEE International Conference on Robotics and Automation, vol. 4, Institute of Electrical and Electronics Engineers Inc., pp. 3865-3870, 2001 IEEE International Conference on Robotics and Automation (ICRA), Seoul, Korea, Republic of, 21/05/01. https://doi.org/10.1109/ROBOT.2001.933220

Robust control for a flexible-link manipulator using sliding mode techniques and nonlinear H_∞ control design methods. / Hisseine, D.; Lohmann, B.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2001. p. 3865-3870 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 4).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Robust control for a flexible-link manipulator using sliding mode techniques and nonlinear H∞ control design methods

AU - Hisseine, D.

AU - Lohmann, B.

PY - 2001

Y1 - 2001

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0034868848&partnerID=8YFLogxK

U2 - 10.1109/ROBOT.2001.933220

DO - 10.1109/ROBOT.2001.933220

M3 - Conference contribution

AN - SCOPUS:0034868848

SN - 0780365763

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 3865

EP - 3870

BT - Proceedings - IEEE International Conference on Robotics and Automation

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2001 IEEE International Conference on Robotics and Automation (ICRA)

Y2 - 21 May 2001 through 26 May 2001

ER -

Hisseine D, Lohmann B. Robust control for a flexible-link manipulator using sliding mode techniques and nonlinear H_∞ control design methods. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2001. p. 3865-3870. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ROBOT.2001.933220