Title :
Parametrization of a flexible link´s internal behavior in an output tracking problem
Author :
Fusco, G. ; Lanari, L.
Author_Institution :
Dipart. di Ingegneria Ind., Cassino Univ., Italy
Abstract :
For a sinusoidal time reference trajectory, a parametrization of the feedforward control together with the internal associated trajectories is found through the use of a single parameter.
Keywords :
feedforward; flexible manipulators; optimal control; position control; feedforward control; flexible link; internal behavior; output tracking problem; sinusoidal time reference trajectory; Eigenvalues and eigenfunctions; Gravity; Industrial control; Manipulators; Optimal control; Payloads; Robots; Steady-state; Torque; Trajectory;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.1210301
