Robust sliding mode control for flexible arms

Xinkai Chen, Guisheng Zhai, Hiroyuki Kano

Research output: Contribution to journalConference articlepeer-review

1 Citation (Scopus)


In this paper, we consider the robust control of one link flexible arms by using sliding mode method. The higher order modes of the flexible arm are treated as disturbances, and are compensated by introducing a special filter. The remained disturbance and the model uncertainties are considered as the system uncertainty. The robustness of the sliding mode control is effectively employed to cope with the system uncertainty, where the upper and lower bounds of the uncertainty are adaptively updated. The stability of the closed-loop system is analyzed by using the fact that a part of the control input is the approximate estimate of the uncertainty. Experimental results show the robustness of the proposed method.

Original languageEnglish
Article number412-227
Pages (from-to)50-55
Number of pages6
JournalProceedings of the IASTED International Conference on Modelling, Identification and Control
Publication statusPublished - 2004 Dec 1
Externally publishedYes
EventProceedings of the 23rd IASTED International Conference on Modelling, Identification, and Control - Grindelwald, Switzerland
Duration: 2004 Feb 232004 Feb 25


  • Disturbance Observer
  • Flexible Arm
  • Robust Control
  • Sliding Mode Control
  • Uncertainty

ASJC Scopus subject areas

  • Software
  • Modelling and Simulation
  • Computer Science Applications


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