Control of two-link flexible manipulators via generalized canonical transformation

2004 IEEE Conference on Robotics, Automation and Mechatronics

Volumn , Issue , 2004, Pages 107-112

  Bo, Xu ^a   Fujimoto, Kenji ^a   Hayakawa, Yoshikazu ^a  

^a NAGOYA UNIVERSITY   (Japan)

Author keywords

Energy shaping; Flexible manipulators; Generalized canonical transformation; Port controlled Hamiltonian system

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; COMPUTER SIMULATION; HAMILTONIANS; MATHEMATICAL TRANSFORMATIONS; NONLINEAR CONTROL SYSTEMS; ROBUSTNESS (CONTROL SYSTEMS); SLIDING MODE CONTROL; LAGRANGE MULTIPLIERS; PROBLEM SOLVING;

ENERGY SHAPING; GENERALIZED CANONICAL TRANSFORMATION; PORT-CONTROLLED HAMILTONIAN SYSTEMS; EULER-LAGRANGE EQUATION; GENERALIZED TRANSFORMATION; POST-CONTROLLED HAMILTONIAN SYSTEM;

FLEXIBLE MANIPULATORS;

EID: 11244301197     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (15)

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