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|Title:||A modal feedback control law for vibration control of multi-link flexible robots|
Ang Jr., M.H.
|Source:||Yang, H.,Krishnan, H.,Ang Jr., M.H. (1998). A modal feedback control law for vibration control of multi-link flexible robots. Proceedings of the American Control Conference 3 : 1821-1822. ScholarBank@NUS Repository. https://doi.org/10.1109/ACC.1998.707331|
|Abstract:||This paper presents a modal feedback controller for vibration control of multi-link flexible robots. The controller is based on independent joint PD control and modal feedback. The asymptotic stability of the proposed control scheme has been proved via Lyapunov stability theory. Both the design procedure and the implementation of the controller are simple. Simulation results confirm the good performance of the controller. © 1998 AACC.|
|Source Title:||Proceedings of the American Control Conference|
|Appears in Collections:||Staff Publications|
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