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Proceedings Paper

A comparison between non linear control logics applied to a 3-segments manipulator
Author(s): Francesco Ripamonti; Egidio Leo; Ferruccio Resta
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Paper Abstract

Non-linear behavior is present in many mechanical systems operating conditions. In these cases, to improve the vibration control performances achievable with the linearization of the equations of motion, it is possible to design the control system on a set of linearized models (operating conditions) and to apply the gain-scheduling, increasing the system stability too. More recently new control logics are applied to the systems in non-linear form. This paper presents a nonlinear sliding-mode control and compares it to the linearized approaches. A boom formed by three flexible segments and actuated by three electrical motors is chosen to numerically test the proposed logics..

Paper Details

Date Published: 9 March 2014
PDF: 9 pages
Proc. SPIE 9057, Active and Passive Smart Structures and Integrated Systems 2014, 90572K (9 March 2014); doi: 10.1117/12.2045308
Show Author Affiliations
Francesco Ripamonti, Politecnico di Milano (Italy)
Egidio Leo, Politecnico di Milano (Italy)
Ferruccio Resta, Politecnico di Milano (Italy)

Published in SPIE Proceedings Vol. 9057:
Active and Passive Smart Structures and Integrated Systems 2014
Wei-Hsin Liao, Editor(s)

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