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Optimal and nonlinear decoupling control of systems with sandwiched backlash

✍ Scribed by Gang Tao; Xiaoli Ma; Yi Ling

Publisher
Elsevier Science
Year
2001
Tongue
English
Weight
243 KB
Volume
37
Category
Article
ISSN
0005-1098

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✦ Synopsis

For a class of multivariable nonlinear systems with sandwiched backlash and joint dynamics, a combined optimal and nonlinear feedback linearization decoupling control design achieves ewective backlash compensation and ensures desired tracking performance.

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