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Non-linear control and observation algorithms for a single-link flexible robot arm

 

作者: S. Nicosia,   P. Tomei,   A. Tornambè,  

 

期刊: International Journal of Control  （Taylor Available online 1989）
卷期: Volume 49, issue 3  

页码: 827-840

 

ISSN:0020-7179

 

年代: 1989

 

DOI:10.1080/00207178908559670

 

出版商: Taylor & Francis Group

 

数据来源: Taylor

 

摘要:

The problem of controlling a single-link flexible arm is investigated. With reference to an approximate finite-dimensional model of the robot, a non-linear controller and observer are derived. A method to derive approximate asymptotic observers is proposed. Simulation tests to validate the effectiveness of the control/observation laws are included.

 

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