Control of a Class of Manipulators With a Single Flexible Link: Part I—Feedback Linearization

DOI10.1115/1.2896471zbMath0745.93055OpenAlexW2086812009MaRDI QIDQ3989383

Da-Bin Wang, Mathukumalli Vidyasagar

Publication date: 28 June 1992

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.2896471

zbMATH Keywords

feedback linearization

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (8)

Predictive end-point trajectory control of elastic manipulators ⋮ A composite adaptive control with flexible quantity feedback for flexible-link manipulators ⋮ Convergence Analysis of an Inverse Flexible Manipulator Model Algorithm ⋮ Flexible‐link robot arm control by a feedback linearization/singular perturbation approach ⋮ Input-output transformation using the feedback of nonlinear electrical circuits: algorithms and linearization examples ⋮ Robust trajectory control in the workspace of a class of flexible robots ⋮ Control of a 2-DOF manipulator with a flexible forearm. ⋮ A generalized approach to tracking the nominals of mechanical systems

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