Control of a flexible joint robot manipulator via a non-linear control-observer scheme

DOI10.1080/00207170010004080zbMath1039.93047OpenAlexW2080293485MaRDI QIDQ3151533

J. G. Alvarez-Leal, J. De Leon-Morales, Rafael Castro-Linares, Jaime Alvarez-Gallegos

Publication date: 16 October 2002

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207170010004080

zbMATH Keywords

sliding modefeedback linearizationsingularly perturbed systemslow-fast systemsflexible joint robothigh gain nonlinear observer

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Time-scale analysis and singular perturbations in control/observation systems (93C70) Linearizations (93B18) Variable structure systems (93B12)

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