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Rigid model-based fuzzy control of flexible-joint manipulators

✍ Scribed by Lin Lih-Chang; Chen Chiang-Chuan


Publisher
Springer Netherlands
Year
1995
Tongue
English
Weight
974 KB
Volume
13
Category
Article
ISSN
0921-0296

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The State-Dependent Riccati Equation (SDRE) control of a nonlinear rigid-flexible two link robotic manipulator is investigated. Different cases are considered assuming small deviations and large deviations from the desired final states. The nonlinear governing equations of motion are coupled, provid