Sliding observer-based feedback control for flexible joints manipulator

DOI10.1016/0005-1098(96)00069-6MaRDI QIDQ1815718zbMATH OpenOpenAlexFDO

Authors Jacques Hernandez, J. P. Barbot

Publication date 10 June 1997

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0005-1098(96)00069-6

zbMATH Keywords

flexible manipulatorsnonlinear observeroutput feedbacksingular perturbationsliding observertracking

Mathematics Subject Classification ID

Singular perturbations of ordinary differential equations (34D15) Variable structure systems (93B12) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85)

Review text

The authors use the singular perturbation methods to design a nonlinear observer-based feedback control law for tracking desired time-varying joint-space trajectories for flexible manipulators.

Cites work

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Cited in

(4)

• Higher order sliding mode inspired nonlinear discrete-time observer
• Sliding mode control of the prismatic-prismatic-revolute mobile robot with a flexible joint
• Nonlinear estimator design of automotive alternator utilizing battery current and speed measurements
• Super twisting algorithm-based step-by-step sliding mode observers for nonlinear systems with unknown inputs

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