Design of an optimal feedback linearizin
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Tarek Lahdhiri; Hoda A. Elmaraghy
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Article
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1999
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John Wiley and Sons
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English
โ 226 KB
๐ 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