{"title":"Adaptive Nonlinear Sensor Output Feedback Control of a Flexible Robot Arm","authors":"H. Bolandi, S. M. Esmaeilzadeh","doi":"10.1109/ICCEE.2008.122","DOIUrl":null,"url":null,"abstract":"In this paper, to cope with parametric uncertainties in the nonlinear dynamical model of a flexible robot arm a Lyapunov based adaptive nonlinear output feedback control strategy directly based on tip position and strain gauge measurements is investigated. Effectiveness and performance of the controller in vibration suppressing and fast motion duration tracking capability is shown through simulation.","PeriodicalId":365473,"journal":{"name":"2008 International Conference on Computer and Electrical Engineering","volume":"14 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2008-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2008 International Conference on Computer and Electrical Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCEE.2008.122","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
In this paper, to cope with parametric uncertainties in the nonlinear dynamical model of a flexible robot arm a Lyapunov based adaptive nonlinear output feedback control strategy directly based on tip position and strain gauge measurements is investigated. Effectiveness and performance of the controller in vibration suppressing and fast motion duration tracking capability is shown through simulation.
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