Modeling and sliding mode control of flexible structure

Gorade, Sanket Kailas; Kurode, Shailaja; Gandhi, Prasanna S.

doi:10.1109/iccas.2014.6987886

Cited by 7 publications

(2 citation statements)

References 15 publications

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“…if NT > Nc, two additional equilibria emerge symmetrically on sides of the beam. Then, the central equilibrium goes unstable, while the side equilibria form stable equilibrium points of the system [24]. For the practical system of IFB on cart under consideration, even if entire beam mass is assumed at the tip of beam, we get tip load, NT = mg = mbg = 0.2107 kg.m/ s 2 which is less than the critical buckling load limit of this system, given by eqn.…”

Section: Euler-lagrange Equation :-mentioning

confidence: 89%

“…(13), for i = 1,2 consecutively, we obtain the following set of two equations respectively : mL 2 jj + mLz cos B + O.5kL 2 si n 2B -mgLsi n B +b1Li cos 8 + b1L 2 B = 0 (14) 2015 International Conference on Power and Advanced Control Engineering (ICPACE) (M + m)z + mLBcos8 -mLfP si n 8 + (bl + b 2 )i +blL8cos8 = u (15) Thus, the mathematical equations (eqn.s (14) & (15)) so derived, govern the dynamics of the system of inverted flexible beam on cart. It can be represented in 4th order matrix-vector form as :…”

Section: Euler-lagrange Equation :-mentioning

confidence: 99%

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Robust stabilization of Inverted Flexible Beam on cart using Sliding Mode Control

Gorade¹,

Kurode

2015

2015 International Conference on Power and Advanced Control Engineering (ICPACE)

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This paper presents mathematical model and robust control design for Inverted Flexible Beam (IFB) on cart system. Firstly, the system of IFB on cart is modeled using energy approach. Flexibility of beam is accounted by assuming spring connected imaginary structure. Proposed model is simulated and validated with experimental results. Secondly, a robust Sliding Mode Control (SMC) is developed to stabilize the beam vertically on the cart, despite the action of uncertainties and disturbances on the system. A stable sliding surface is formulated and using Gao's reaching law, sliding mode control input is synthesized for the cart. By feeding suitable controlled motion to the cart, IFB is stabilized and the flexibility vibrations are also eliminated com pletely. The performance of SMC is compared with Proportional Integral Derivative (PID) control. Accuracy, robustness, speed and superiority of designed SMC is demonstrated in simulations.

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Section: Euler-lagrange Equation :-mentioning

confidence: 89%