Stable inversion of SISO nonminimum phase linear systems through output planning: An experimental application to the one-link flexible manipulator

IEEE Transactions on Control Systems Technology

Volumn 11, Issue 4, 2003, Pages 588-597

  Benosman, M ^a   Le Vey, G ^b  

^a UNIVERSITÉ DE REIMS CHAMPAGNE ARDENNE   (France)

^b INSTITUT DE RECHERCHE EN COMMUNICATIONS ET CYBERNÉTIQUE DE NANTES   (France)

Author keywords

Manipulator motion planning; Nonminimum phase systems; Stable inversion

Indexed keywords

END EFFECTORS; FLEXIBLE MANIPULATORS; INVERSE KINEMATICS; LINEAR CONTROL SYSTEMS; ROBOTIC ARMS; STATE FEEDBACK;

MANIPULATOR MOTION PLANNING; NONMINIMUM PHASE LINEAR SYSTEMS;

MOTION PLANNING;

EID: 0038444285     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2003.813372     Document Type: Article

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