2011
IMAACA 2011 Proceeding
Active Vibration Reducing of a One-link Manipulator Using the State Feedback Decoupling and the First Order Sliding Mode Control
Authors: Mohammed Bakhti, Badr Bououlid Idrisssi
Abstract
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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