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Comparison of controller designs for an experimental flexible structure

โœ Scribed by Lim, K.B.; Maghami, P.G.; Joshi, S.M.

Book ID
120056637
Publisher
IEEE
Year
1992
Tongue
English
Weight
894 KB
Volume
12
Category
Article
ISSN
1066-033X

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Design of an optimal feedback linearizin
Design of an optimal feedback linearizing-based controller for an experimental flexible-joint robot manipulator
โœ Tarek Lahdhiri; Hoda A. Elmaraghy ๐Ÿ“‚ Article ๐Ÿ“… 1999 ๐Ÿ› John Wiley and Sons ๐ŸŒ English โš– 226 KB ๐Ÿ‘ 3 views

This paper presents the design of an optimal non-linear position tracking controller for a two-link #exible joint robot manipulator. The controller is designed based on the concept of exact feedback linearization and LQG/LTR techniques. It is shown that the non-linear robot model is feedback lineari