DocumentCode
2720009
Title
Observer-based controllers for a flexible joint robot manipulator
Author
De León-Morales, J. ; Alvarez-Leal, J.G.
Author_Institution
Programa Doctoral en Ingieria, FIME-UNAL, S. Nicolas de los Garza, Mexico
Volume
2
fYear
1998
fDate
16-18 Dec 1998
Firstpage
1500
Abstract
In this paper, observer-based controllers are designed using the singular perturbations theory and differential algebra, for position and speed control of a single flexible joint robot manipulator. Both schemes are compared in simulation
Keywords
flexible manipulators; nonlinear systems; observers; position control; singularly perturbed systems; variable structure systems; velocity control; differential algebra; flexible joint manipulator; nonlinear systems; observer; position control; singular perturbations; sliding mode control; speed control; two time scale system; Control systems; Glands; Manipulators; Motion control; Nonlinear control systems; Robots; Sliding mode control; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location
Tampa, FL
ISSN
0191-2216
Print_ISBN
0-7803-4394-8
Type
conf
DOI
10.1109/CDC.1998.758500
Filename
758500
Link To Document