Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters (Q1306187)
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scientific article; zbMATH DE number 1343562
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| English | Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters |
scientific article; zbMATH DE number 1343562 |
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Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters (English)
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7 June 2000
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The present paper considers the stabilization of flexible-joint robots with uncertain elements powered by DC motors. The proposed linear output based controller ensures local exponential stability under some uncertainty conditions. Assuming that the velocity signals from the link side are not measurable, the controller is analyzed by using tools from pole placement by output feedback in the framework of linear system theory.
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automated systems
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stabilization of systems by feedback
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flexible-joint robots
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pole placement
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output feedback
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DC motors
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0.8528612852096558
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0.8186906576156616
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0.801498293876648
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0.7993562817573547
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0.7917205691337585
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