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In this paper we proposed a practical robust controller which has simple structure, more easy tuning factor, and control forms having direct relation with control performance. This robust control is designed using the motor side dynamics directly. The design procedure consists of three parts. A model based computed torque control part to decrease stead-state errors, a feedback based control part to...
This paper proposes a design method of sliding mode observer for flexible joint robot manipulators. The proposed observer structure is the conventional Luenberger observer with additional switching element that is a role to attenuate system uncertainties and modeling errors. During sliding, the design method is that the nonlinear function due to system uncertainty in sliding mode observer is divides...
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