COMBINED PD-H∞ APPROACH TO CONTROL OF FLEXIBLE LINK MANIPULATORS USING ONLY DIRECTLY MEASURABLE VARIABLES

DOI10.1080/01969720302853zbMATH Open1039.93046OpenAlexW1973219388MaRDI QIDQ4483972FDOQ4483972

Authors: Ian Lizarraga, Victor Etxebarria 

Publication date: 2003

Published in: Cybernetics and Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/01969720302853

Recommendations

• Control of a Class of Manipulators With a Single Flexible Link: Part I—Feedback Linearization
• Control of a Class of Manipulators With a Single Flexible Link: Part II—Observer-Controller Stabilization
• Uncertainty compensation for a flexible-link manipulator using nonlinear H control
• PD control of robot manipulators with joint flexibility, actuators dynamics and friction
• Robust control of multilink flexible manipulators.
• scientific article; zbMATH DE number 1064354
• Optimal Control of Rigid-Link Manipulators by Indirect Methods
• Optimal control of a flexible parallel link robotic manipulator
• Modeling and nonlinear control of a flexible-link manipulator
• Artificial Intelligence: Methodology, Systems, and Applications

zbMATH Keywords

trackingsensor readingsflexible link manipulatorsPD-\(H_\infty\) design

Mathematics Subject Classification ID

(H^infty)-control (93B36) Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Flexible‐link robot arm control by a feedback linearization/singular perturbation approach
• Nonlinear tip-position tracking control of a flexible-link manipulator: Theory and experiments
• An inverse dynamics control strategy for tip position tracking of flexible multi-link manipulators

Cited In (4)

• SLIDING-MODE ADAPTIVE CONTROL FOR FLEXIBLE-LINK MANIPULATORS USING A COMPOSITE DESIGN
• \(H_\infty\) control design for fuzzy discrete-time singularly perturbed systems via slow state variables feedback: an LMI-based approach
• Experimental control of a single-link flexible robot arm using energy shaping
• \(H_\infty\) control for singularly perturbed jumping delayed systems and its application in a tunnel diode circuit model

Uses Software

• Mu Analysis and Synthesis Toolbox

This page was built for publication: COMBINED PD-H∞ APPROACH TO CONTROL OF FLEXIBLE LINK MANIPULATORS USING ONLY DIRECTLY MEASURABLE VARIABLES

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q4483972)