Title :
Observer-based controllers for a flexible joint robot manipulator
Author :
De León-Morales, J. ; Alvarez-Leal, J.G.
Author_Institution :
Programa Doctoral en Ingieria, FIME-UNAL, S. Nicolas de los Garza, Mexico
Abstract :
In this paper, observer-based controllers are designed using the singular perturbations theory and differential algebra, for position and speed control of a single flexible joint robot manipulator. Both schemes are compared in simulation
Keywords :
flexible manipulators; nonlinear systems; observers; position control; singularly perturbed systems; variable structure systems; velocity control; differential algebra; flexible joint manipulator; nonlinear systems; observer; position control; singular perturbations; sliding mode control; speed control; two time scale system; Control systems; Glands; Manipulators; Motion control; Nonlinear control systems; Robots; Sliding mode control; Velocity control;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.758500
