Singular perturbation approach to trajectory tracking of flexible robot with joint elasticity

DOI10.1080/0020772031000135450zbMath1048.93073OpenAlexW1994922304MaRDI QIDQ4810915

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Publication date: 17 August 2004

Published in: International Journal of Systems Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/0020772031000135450

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85) Time-scale analysis and singular perturbations in control/observation systems (93C70)

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Cites Work

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• Singular perturbations and time-scale methods in control theory: Survey 1976-1983
• Adaptive controller design for flexible joint manipulators
• Applications of Singular Perturbation Techniques to Control Problems
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• A Finite Element/Lagrange Approach to Modeling Lightweight Flexible Manipulators
• Modeling and Control of Elastic Joint Robots
• Output Feedback Two-Time Scale Control of Multilink Flexible Arms
• Flexible‐link robot arm control by a feedback linearization/singular perturbation approach