Title :
Speed and position control of a flexible joint robot manipulator via a nonlinear control-observer scheme
Author :
De León-Morales, J. ; Alvarez-Leal, J.G. ; Castro-Linares, R. ; Alvarez-Gallegos, Jm
Author_Institution :
Fac. Ing. Mecanica y Electrica, UANL, San Nicolas de los Garza, Mexico
Abstract :
A nonlinear control-observer structure for a class of nonlinear singularly perturbed systems, based on a two-time scale sliding-mode technique and a high gain estimator, is presented. The structure is applied to the model of a single-link flexible joint robot manipulator
Keywords :
control system synthesis; manipulators; nonlinear control systems; observers; position control; singularly perturbed systems; variable structure systems; velocity control; flexible joint robot manipulator; high gain estimator; nonlinear control-observer scheme; nonlinear singularly perturbed systems; position control; speed control; two-time scale sliding-mode technique; Actuators; Control systems; Couplings; DC motors; Manipulators; Nonlinear control systems; Position control; Robots; Rotors; Sliding mode control;
Conference_Titel :
Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on
Conference_Location :
Hartford, CT
Print_ISBN :
0-7803-3876-6
DOI :
10.1109/CCA.1997.627565
