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This paper proposes a robust inverse-optimal control for flexible joint robot manipulator in order to cope with parameter uncertainties. In the first step, a virtual control input was designed as PED form with 2 gain tuning conditions. In the second and third steps, the other virtual input and actual control torque were made using the saturation-type nonlinear control based on the Lyapunov's second...
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...
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...
A robust control is designed for flexible joint robot manipulators which can be decomposed into two cascaded subsystems; a series connection of robot link dynamics and joint dynamics. A recursive design method is used for the controller design. The recursive design procedure is constructive and contains two steps. First, a fictitious robust controller for the robot link dynamics is designed as if...
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