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|Title:||Tip tracking control of a flexible manipulator using PD type controller|
|Authors:||Ge, S.S. |
|Source:||Ge, S.S.,Lee, T.H.,Zhu, G. (1996). Tip tracking control of a flexible manipulator using PD type controller. IEEE Conference on Control Applications - Proceedings : 309-313. ScholarBank@NUS Repository.|
|Abstract:||In this paper, tip tracking control is investigated for a single-link flexible manipulator. The flexible beam is lumped to a spring-mass system based on which a very simple but effective PD type controller is developed to achieve Bounded Input and Bounded Output (BIBO) stable tip tracking performance. The controller is robust to system parameter uncertainties, and is comparatively easy to implement.|
|Source Title:||IEEE Conference on Control Applications - Proceedings|
|Appears in Collections:||Staff Publications|
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