Please use this identifier to cite or link to this item: https://scholarbank.nus.edu.sg/handle/10635/62883
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dc.titleTip Tracking Control of a Single-Link Flexible Robot: A Backstepping Approach
dc.contributor.authorZhu, G.
dc.contributor.authorLee, T.H.
dc.contributor.authorGe, S.S.
dc.date.accessioned2014-06-17T06:55:55Z
dc.date.available2014-06-17T06:55:55Z
dc.date.issued1997
dc.identifier.citationZhu, 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.
dc.identifier.issn09254668
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/62883
dc.description.abstractIn 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.
dc.sourceScopus
dc.subjectBackstepping
dc.subjectFlexible robot
dc.subjectTracking control
dc.typeArticle
dc.contributor.departmentELECTRICAL ENGINEERING
dc.description.sourcetitleDynamics and Control
dc.description.volume7
dc.description.issue4
dc.description.page341-360
dc.description.codenDYCOE
dc.identifier.isiutNOT_IN_WOS
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