MANIPULATION
Speed and position control of a flexible joint robot manipulator via a nonlinear control-observer scheme
J. De León-Morales, J.G. Alvarez-Leal, R. Castro‐Linares
- Year
- 2002
- Citations
- 6
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 theory (sociology)Nonlinear systemObserver (physics)Sliding mode controlJoint (building)RobotComputer sciencePosition (finance)EstimatorVariable structure control
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