The problem of controlling a single-link flexible arm is investigated. With reference to an approximate finite-dimensional model of the robot, a non-linear controller and observer are derived. A method to derive approximate asymptotic observers is proposed. Simulation tests to validate the effectiveness of the control/observation laws are included. © 1989 Taylor & Francis Group, LLC.
Nicosia, S., Tomei, P., Tornambé, A. (1989). Non-linear control and observation algorithms for a single-link flexible robot arm. INTERNATIONAL JOURNAL OF CONTROL, 49(3), 827-840 [10.1080/00207178908559670].
Non-linear control and observation algorithms for a single-link flexible robot arm
Nicosia, S.;Tomei, P.;Tornambé, A.
1989-01-01
Abstract
The problem of controlling a single-link flexible arm is investigated. With reference to an approximate finite-dimensional model of the robot, a non-linear controller and observer are derived. A method to derive approximate asymptotic observers is proposed. Simulation tests to validate the effectiveness of the control/observation laws are included. © 1989 Taylor & Francis Group, LLC.File in questo prodotto:
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