Please use this identifier to cite or link to this item: https://doi.org/10.1016/0957-4158(96)00027-X
Title: Energy-based robust controller design for multi-link flexible robots
Authors: Ge, S.S. 
Lee, T.H. 
Zhu, G.
Issue Date: Oct-1996
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.
Source Title: Mechatronics
URI: http://scholarbank.nus.edu.sg/handle/10635/62136
ISSN: 09574158
DOI: 10.1016/0957-4158(96)00027-X
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

74
checked on Nov 13, 2018

WEB OF SCIENCETM
Citations

63
checked on Nov 5, 2018

Page view(s)

39
checked on Nov 10, 2018

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.