Tip tracking control of a single-link flexible robot: A backstepping approach

DOI10.1023/A:1008220427072zbMATH Open0888.93045OpenAlexW1488363695MaRDI QIDQ1368028FDOQ1368028

Authors: Bernhard Rupp 

Publication date: 11 June 1998

Published in: Dynamics and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1023/a:1008220427072

Recommendations

• Contril of rigid‐link, flexible‐joint robots:a survey of backstepping approaches
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• Robust Trajectory Tracking Control of Elastic Robot Manipulators
• Oscillation elimination of tip regulation for a single-link flexible manipulator

zbMATH Keywords

backsteppingbeamadaptive controllerspring-mass systemglobal uniform ultimate boundednesssingle-link flexible robottip tracking

Mathematics Subject Classification ID

Rods (beams, columns, shafts, arches, rings, etc.) (74K10) Design techniques (robust design, computer-aided design, etc.) (93B51) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Control, switches and devices (``smart materials) in solid mechanics (74M05)

Cited In (3)

• Oscillation elimination of tip regulation for a single-link flexible manipulator
• Tip position control of flexible single‐link manipulators in the frequency domain without model reduction
• On tracking control of flexible robot arms

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