Nonlinear regulation, with internal stability, of a two link flexible robot arm
- 7 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1645-1650
- https://doi.org/10.1109/cdc.1989.70427
Abstract
The problem of endpoint asymptotic tracking, with internal stability, of a two-link flexible robot arm is discussed. First the problem of exact tracking with bounded internal evolution is reviewed, and an approach for finding bounded solutions of the inverse dynamics is given. Then the linear regulator problem with internal stability is solved for the one-link case and extended to the nonlinear two-link case.Keywords
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