Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/81786
Title: Tip tracking control of a flexible manipulator using PD type controller
Authors: Ge, S.S. 
Lee, T.H. 
Zhu, G.
Issue Date: 1996
Citation: 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
URI: http://scholarbank.nus.edu.sg/handle/10635/81786
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