Nonlinear tip-position tracking control of a flexible-link manipulator: Theory and experiments

Automatica

Volumn 37, Issue 11, 2001, Pages 1825-1834

  Moallem, M ^a   Patel, R V ^a   Khorasani, K ^b  

^a UNIVERSITY OF WESTERN ONTARIO   (Canada)

^b Gina Cody School of Engineering and Computer Science   (Canada)

Author keywords

Flexible arm; Non minimum phase systems; Nonlinear control; Nonlinear decoupling control; Observers

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; ERROR ANALYSIS; ROBOTIC ARMS; ROBUSTNESS (CONTROL SYSTEMS);

DECOUPLING CONTROL;

MANIPULATORS;

EID: 0035501850     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0005-1098(01)00130-3     Document Type: Article

References (23)

1. Active control of flexible systems
2. Recursive Lagrangian dynamics of flexible manipulator arms
3. Global feedback stabilization of nonlinear systems
4. Initial experiments on the end-point control of a flexible one-link robot
5. Sliding observers for robot manipulators
6. Inversion techniques for trajectory control of flexible robot arms
7. Control of nonminimum phase singularly perturbed systems with applications to flexible link manipulators
8. Vibration control of a two-link flexible robot arm
9. Invertibility of nonlinear control systems
10. Inverse trajectory control and zero-dynamics sensitivity of an elastic manipulator
11. An integral manifold approach for tip position tracking of flexible multi-link manipulators
12. An inverse dynamics control strategy for tip position tracking of flexible multi-link manipulators
13. An observer-based inverse dynamics control strategy for flexible multi-link manipulators
14. Experimental results for nonlinear decoupling control of flexible multi-link manipulators
15. Pseudo-links and self-tuning control of a non-rigid link mechanism
16. A singular perturbation approach to control of lightweight flexible manipulators
17. Feedback linearizability of multi-link manipulators with one flexible link
18. Transfer functions for a single flexible link