Nonlinear feedback control of flexible joint manipulators: a single link case study

DOI10.1109/9.58558MaRDI QIDQ3197421zbMATH OpenOpenAlexFDO

Authors K. Khorasani

Publication date 1990

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/9.58558

zbMATH Keywords

control space transformationflexible joint manipulatornonlinear feedback controlstate-space coordinate transformation

Mathematics Subject Classification ID

Generalized coordinates; event, impulse-energy, configuration, state, or phase space for problems in mechanics (70G10) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(14)

• Feedback linearization of a flexible manipulator near its rigid body manifold
• On the adaptive control of flexible joint robots
• Feedback control of planar linkages using a linearizing filter: Theory and experiments
• A robust sliding mode control for pneumatic servo systems
• Composite adaptive control of flexible joint robots
• Robust control of nonlinear mechanical systems using linear feedback
• Design of robust controllers and a nonlinear observer for the control of a single-link flexible robotic manipulator
• Control of a Class of Manipulators With a Single Flexible Link: Part I—Feedback Linearization
• scientific article; zbMATH DE number 1300075 (Why is no real title available?)
• Flexible‐link robot arm control by a feedback linearization/singular perturbation approach
• A nonlinear feedback controller for a single-link flexible manipulator based on a finite element model
• Regulation of single-link flexible manipulator involving large elastic deflections
• Robust dynamic surface control of flexible joint robots using recurrent neural networks
• Order reduction of control and estimation problems for flexible joint manipulator

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