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Design of optimal strictly positive real controllers using numerical optimization for the control of flexible robotic systems

✍ Scribed by James Richard Forbes; Christopher John Damaren

Book ID
113712091
Publisher
Elsevier Science
Year
2011
Tongue
English
Weight
769 KB
Volume
348
Category
Article
ISSN
0016-0032

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πŸ“œ SIMILAR VOLUMES

Design of an optimal feedback linearizin
Design of an optimal feedback linearizing-based controller for an experimental flexible-joint robot manipulator
✍ Tarek Lahdhiri; Hoda A. Elmaraghy πŸ“‚ Article πŸ“… 1999 πŸ› John Wiley and Sons 🌐 English βš– 226 KB πŸ‘ 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