Robust controller design for flexible joint based on back-stepping approach
Source
Iraqi Journal of Computer, Communications and Control Engineering
Issue
Vol. 20, Issue 2 (30 Apr. 2020), pp.58-73, 16 p.
Publisher
Publication Date
2020-04-30
Country of Publication
Iraq
No. of Pages
16
Main Subjects
Telecommunications Engineering
Topics
Abstract EN
he objective of this paper is to design a robust controller for a system modeled as a two-mass system, with a flexible coupling.
Here, the flexible Joint between two-mass systems is characterized by a spring.
In fact, a two-mass system represents most of an industrial drive, like rolling mill drives, automated arms, conveyor belts, and so on, that has a flexible joint, for which oscillation suppression and robust control against model uncertainties and external disturbances are very important.
The proposed controller is based on sliding mode control with a back-stepping approach.
Two subsystems (upper and lower) strategies are proposed for two- mass systems.
On this basis, the classical sliding mode controller for each subsystem based on Lyapunov stability theory and sliding mode control theory is addressed to eliminate the influences of the parametric uncertainties, nonlinearities, and external disturbance load with the aid of sliding mode perturbation observer.
Finally, comprehensive simulations are conducted to demonstrate the excellent performance of the proposed method.
American Psychological Association (APA)
Muhammad, Ahmad Muhsin Bayyumi& al-Samirrai, Shibli Ahmad. 2020. Robust controller design for flexible joint based on back-stepping approach. Iraqi Journal of Computer, Communications and Control Engineering،Vol. 20, no. 2, pp.58-73.
https://search.emarefa.net/detail/BIM-972695
Modern Language Association (MLA)
Muhammad, Ahmad Muhsin Bayyumi& al-Samirrai, Shibli Ahmad. Robust controller design for flexible joint based on back-stepping approach. Iraqi Journal of Computer, Communications and Control Engineering Vol. 20, no. 2 (Apr. 2020), pp.58-73.
https://search.emarefa.net/detail/BIM-972695
American Medical Association (AMA)
Muhammad, Ahmad Muhsin Bayyumi& al-Samirrai, Shibli Ahmad. Robust controller design for flexible joint based on back-stepping approach. Iraqi Journal of Computer, Communications and Control Engineering. 2020. Vol. 20, no. 2, pp.58-73.
https://search.emarefa.net/detail/BIM-972695
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 72-73
Record ID
BIM-972695