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Volumn 74, Issue 3, 2001, Pages 290-302

Control of a flexible joint robot manipulator via a non-linear control-observer scheme

Author keywords

[No Author keywords available]

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; DEGREES OF FREEDOM (MECHANICS); ERROR ANALYSIS; GAIN CONTROL; MANIPULATORS; PERTURBATION TECHNIQUES; SLIDING MODE CONTROL; TRACKING (POSITION);

EID: 0035866450     PISSN: 00207179     EISSN: None     Source Type: Journal    
DOI: 10.1080/00207170010004080     Document Type: Article
Times cited : (18)

References (21)
  • 1
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    • Alvarez, Ja.1    Silva, G.2
  • 2
    • 0029639338 scopus 로고
    • Global set point control via link position measurement for flexible joint robots
    • Battilotti, S., and Lanari, L., 1995, Global set point control via link position measurement for flexible joint robots. Systems and Control Letters, 25, 21-29.
    • (1995) Systems and Control Letters , vol.25 , pp. 21-29
    • Battilotti, S.1    Lanari, L.2
  • 4
    • 0029342070 scopus 로고
    • Global tracking controllers for flexible-joint manipulators: A comparative study
    • Brogliato, B., Ortega, R., and Lozano, R., 1995, Global tracking controllers for flexible-joint manipulators: a comparative study. Automatica, 31, 41-956.
    • (1995) Automatica , vol.31 , pp. 41-956
    • Brogliato, B.1    Ortega, R.2    Lozano, R.3
  • 7
    • 0023983333 scopus 로고
    • Variable strcture control of nonlinear multivariable systems: A tutorial
    • De Carlo, R.A., Zak, S.H., and Matthews, G.P., 1988, Variable strcture control of nonlinear multivariable systems: A tutorial. Proceedings of the IEEE, 76, 212-233.
    • (1988) Proceedings of the IEEE , vol.76 , pp. 212-233
    • De Carlo, R.A.1    Zak, S.H.2    Matthews, G.P.3
  • 8
    • 0002885745 scopus 로고    scopus 로고
    • Two-time scale sliding mode control and state estimation for nonlinear systems
    • San Francisco, USA, 28 June-5 Jury
    • De Leon, J., Castro, R., and Alvarez, JA., 1996, Two-time scale sliding mode control and state estimation for nonlinear systems. Proceedings of the 13th IFAC World Congress, San Francisco, USA, 28 June-5 Jury, F, 265-270.
    • (1996) Proceedings of the 13th IFAC World Congress , vol.F , pp. 265-270
    • De Leon, J.1    Castro, R.2    Alvarez, Ja.3
  • 11
    • 0030232877 scopus 로고    scopus 로고
    • Sliding observer-based feedback control for flexible joints manipulator
    • Hernandez, J., and Barbot, J., 1996, Sliding observer-based feedback control for flexible joints manipulator. Automatica, 32, 1243 1254.
    • (1996) Automatica , vol.32 , pp. 1243-1254
    • Hernandez, J.1    Barbot, J.2
  • 13
    • 0024628625 scopus 로고
    • A slow manifold approach to linear equivalents of nonlinear singularly perturbed systems
    • Khorasani, K., 1989. A slow manifold approach to linear equivalents of nonlinear singularly perturbed systems, Automatica, 25, 301-306.
    • (1989) Automatica , vol.25 , pp. 301-306
    • Khorasani, K.1
  • 15
    • 0022583993 scopus 로고
    • Nonlinear control techniques for flexible joint manipulators: A single link case study
    • San Francisco, USA
    • Marino, R., and Spong, M.W., 1986, Nonlinear control techniques for flexible joint manipulators: a single link case study. Proceedings of the IEEE Conference on Robotics and Automation, San Francisco, USA, pp. 1030-1036.
    • (1986) Proceedings of the IEEE Conference on Robotics and Automation , pp. 1030-1036
    • Marino, R.1    Spong, M.W.2
  • 16
    • 0010735042 scopus 로고
    • Sliding mode control and elastic mode stabilization of a robotic arm with flexible links
    • Nathan, P.J., and Singh, S.N., 1987, Sliding mode control and elastic mode stabilization of a robotic arm with flexible links. Journal of Dynamic System Measurement and Control, 34, 73-82.
    • (1987) Journal of Dynamic System Measurement and Control , vol.34 , pp. 73-82
    • Nathan, P.J.1    Singh, S.N.2
  • 18
    • 0004021994 scopus 로고
    • Technical Report No. UIUL-ENG-90-2203/DC-116, Coordinated Science Laboratory, University of Ilinois at Urbana-Champaign, USA
    • Spong, M.W., 1990, Control of flexible joint robots: a survey. Technical Report No. UIUL-ENG-90-2203/DC-116, Coordinated Science Laboratory, University of Ilinois at Urbana-Champaign, USA.
    • (1990) Control of flexible joint robots: A survey
    • Spong, M.W.1
  • 19
    • 0001752817 scopus 로고
    • Variable structure control of robot manipulator with nonlinear sliding manifolds
    • Stepanenko, Y., and Su, CH., 1993, Variable structure control of robot manipulator with nonlinear sliding manifolds. International Journal of Control, 58, 285-300.
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    • Stepanenko, Y.1    Su, Ch.2


* 이 정보는 Elsevier사의 SCOPUS DB에서 KISTI가 분석하여 추출한 것입니다.