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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
ISSN: 09254668
Appears in Collections:Staff Publications

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