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

DOI10.1080/00207170010004080zbMath1039.93047MaRDI QIDQ3151533

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

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 mode; feedback linearization; singularly perturbed system; slow-fast systems; flexible joint robot; high gain nonlinear observer

Mathematics Subject Classification ID

93C85: Automated systems (robots, etc.) in control theory

93C70: Time-scale analysis and singular perturbations in control/observation systems

93B18: Linearizations

93B12: Variable structure systems