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|Title:||Uncertainty-attenuating controller for mechanical manipulators with electromechanical dynamics: Part 2|
|Authors:||Teo, C.L. |
|Citation:||Teo, C.L.,Zhu, H.A.,Hong, G.S. (1994). Uncertainty-attenuating controller for mechanical manipulators with electromechanical dynamics: Part 2. Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering 208 (14) : 215-219. ScholarBank@NUS Repository.|
|Abstract:||Decoupling control of robotic manipulators, based on a dynamic model that includes both the mechanical dynamics of the links and the electrical dynamics of the joint motors, is studied in this paper. By using an algorithm of feedback linearization developed in this paper, the highly non-linear and strongly cross-coupled electromechanical system is decoupled and linearized into a set of decoupled linear subsystems. Then, disturbance decoupling is further conducted for disturbance and uncertainty attenuation. It is shown that, by using the proposed control scheme, both modelling difficulty and control complexity of the manipulator system can be significantly reduced.|
|Source Title:||Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering|
|Appears in Collections:||Staff Publications|
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