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- Title
Sliding mode control of a 2-DOF manipulator with random base vibration based on modified exponential reaching law.
- Authors
Xi Wang; Baolin Hou
- Abstract
To solve the precise position control problem of a two degree of freedom (2-DOF) manipulator with random base vibration, a sliding mode control method based on modified exponential reaching law is studied. The dynamic model of manipulator is established by using the second kind Lagrange equation. The nonlinear term generated by base random vibration is presented as external disturbance term. Based on dynamic models, the sliding mode control using improved exponential reaching law is applied in the manipulator system. It is verified by the simulation result that the control method can effectively suppress the influence of base random vibration, and bring the manipulator from a given initial state to a prescribed terminal state rapidly and precisely.
- Subjects
BASES (Architecture); VIBRATION (Mechanics); MANIPULATORS (Machinery); SLIDING mode control; VIBRATION absorption
- Publication
Vibroengineering Procedia, 2016, Vol 10, p247
- ISSN
2345-0533
- Publication type
Article