{"title":"柔性机械臂的自适应非线性传感器输出反馈控制","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":"{\"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}","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}
Adaptive Nonlinear Sensor Output Feedback Control of a Flexible Robot Arm
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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