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.

A comparison between non linear control logics applied to a 3-segments manipulator

RIPAMONTI, FRANCESCO;LEO, ELISABETTA;RESTA, FERRUCCIO
2014-01-01

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.
2014
Proceedings of SPIE - The International Society for Optical Engineering
978-081949983-7
Gain scheduling, Non-linear control, Non-linear interpolation, Non-linear observer, Sliding mode control
File in questo prodotto:
File Dimensione Formato  
NDE2014_SSN03-81.pdf

Accesso riservato

: Publisher’s version
Dimensione 242.9 kB
Formato Adobe PDF
242.9 kB Adobe PDF   Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/935976
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 2
  • ???jsp.display-item.citation.isi??? 1
social impact