Please use this identifier to cite or link to this item:
https://scholarbank.nus.edu.sg/handle/10635/62883
Title: | Tip Tracking Control of a Single-Link Flexible Robot: A Backstepping Approach | Authors: | Zhu, G. Lee, T.H. Ge, S.S. |
Keywords: | Backstepping Flexible robot Tracking control |
Issue Date: | 1997 | Citation: | Zhu, G.,Lee, T.H.,Ge, S.S. (1997). Tip Tracking Control of a Single-Link Flexible Robot: A Backstepping Approach. Dynamics and Control 7 (4) : 341-360. ScholarBank@NUS Repository. | Abstract: | In this paper, tip tracking control is investigated for a single-link flexible robot. The flexible beam is first lumped to a spring-mass system, to which the so called backstepping approach is applicable, then two robust controllers and an adaptive controller are developed in the presence of system disturbances/uncertainties. The controllers are rigorously proven to be able to achieve stable tip position and velocity tracking control in the sense of Global Uniform Ultimate Boundedness( GUUB). Numerical simulation results are provided which show that the proposed controllers are effective. | Source Title: | Dynamics and Control | URI: | http://scholarbank.nus.edu.sg/handle/10635/62883 | ISSN: | 09254668 |
Appears in Collections: | Staff Publications |
Show full item record
Files in This Item:
There are no files associated with this item.
Google ScholarTM
Check
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.