High order sliding mode control of a space robot manipulator

ARISOY A., Bayrakceken M., Basturk S., Gökaşan M., Estrada O. S.

5th International Conference on Recent Advances in Space Technologies, RAST 2011, İstanbul, Türkiye, 9 - 11 Haziran 2011, ss.833-838, (Tam Metin Bildiri) identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/rast.2011.5966960
  • Basıldığı Şehir: İstanbul
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.833-838
  • Anahtar Kelimeler: flexible-link robotic arm, High order sliding mode control, Sliding mode control, structural flexibilities, underactuated systems
  • İstanbul Yeni Yüzyıl Üniversitesi Adresli: Hayır

Özet

In this study, a high-order sliding mode controller (HOSMC) is designed for the control of a one degree-of-freedom (DOF) flexible link space robotic arm with payload. The high-order sliding mode based controller is developed, which exploit the robustness properties of sliding-mode controllers (SMCs), while also increasing accuracy by reducing chattering effects. © 2011 IEEE.