DocumentCode
3219521
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
fYear
1991
fDate
9-11 Apr 1991
Firstpage
516
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.131631
Filename
131631
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