Active Vibration Reducing of a One-link Manipulator Using the State Feedback Decoupling and the First Order Sliding Mode Control
نویسنده
چکیده
This article presents an application of the first order sliding mode control in order to damp the mechanical vibrations of a flexible one-link manipulator using piezoceramic actuators. The flexible manipulator, seen as a multiple inputs multiple outputs system is decoupled using state feedback scheme. The model of the system is deduced using the finite element method, and its response to a control torque is calculated using the Lagrange equations. The state space equations are expressed in order to simplify the simulation and the controller implementation.
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