Please use this identifier to cite or link to this item:
|Title:||Energy-based robust controller design for multi-link flexible robots|
|Authors:||Ge, S.S. |
|Citation:||Ge, S.S., Lee, T.H., Zhu, G. (1996-10). Energy-based robust controller design for multi-link flexible robots. Mechatronics 6 (7) : 779-798. ScholarBank@NUS Repository. https://doi.org/10.1016/0957-4158(96)00027-X|
|Abstract:||A class of robust stable controllers to control the tip position of a multi-link flexible robot is presented. In contrast to traditional model-based methods, the controllers are derived by using a basic relationship of system energy and are independent of the system dynamics. The approach allows controller design in the absence of a system model (which is very complicated in the case of the multi-link flexible robot) and provides great freedom in feedback control design. Further, the controllers are easy to implement in practice because, depending on actual instrumentation, all the signals can be chosen to be measurable. Simulation results of a two-link flexible robot are provided to show the effectiveness of the presented approach. Copyright © 1996 Elsevier Science Ltd.|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Jul 10, 2018
WEB OF SCIENCETM
checked on May 30, 2018
checked on Mar 12, 2018
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.