Title :
Observer-controller stabilization of a class of manipulators with a single flexible link
Author :
Wang, David ; Vidyasagar, M.
Author_Institution :
Dept. of Electr. Eng., Waterloo Univ., Ont., Canada
Abstract :
A nonlinear control strategy for a large class of multilink manipulators with one flexible link is proposed. The design is based on a transformation which almost linearizes the system. A nonlinear observer is proposed, and it is shown that combining this observer with the proposed nonlinear controller results in a system which is input/output stable in a local sense
Keywords :
control system synthesis; linearisation techniques; nonlinear control systems; robots; stability; state estimation; flexible link; multilink manipulators; nonlinear control; nonlinear observer; observer controller stabilisation; robots; stability; Assembly; Control systems; Couplings; Eigenvalues and eigenfunctions; Elbow; Equations; Manipulator dynamics; Nonlinear control systems; Robots; Torque;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131631
