The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
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 robust back-stepping control method for flexible joint robot manipulators to overcome parameter uncertainty. In the first step, a virtual control is designed for the rigid link dynamic by the nonlinear H-infinity method. In second and third steps, the other virtual control and real control are designed using the saturation-type nonlinear control based on the Lyapunov's second...
The robust nonlinear control method is proposed for the robot manipulators with joint flexibility based on the nonlinear H-infinity control method and the saturation control method. In contrast with the previous research, the control computation time is improved by modifying the input structure to the feed-forward and feed-back control input type. The nonlinear matrix inequality and robust input structures...
Flexible joint robot manipulators can be decomposed into two cascaded subsystems, a series connection of robot link dynamics and joint dynamics. For these flexible manipulators, we propose the robust controller using a recursive design method. The recursive design procedures are constructive and contain two steps. First, a fictitious robust controller for the robot link dynamics is designed as if...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.