کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
695863 890317 2013 11 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Prescribed performance tracking for flexible joint robots with unknown dynamics and variable elasticity
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Prescribed performance tracking for flexible joint robots with unknown dynamics and variable elasticity
چکیده انگلیسی

In this paper, we consider the design of tracking controllers for flexible joint robots with unknown and possibly variable elasticity, achieving pre-set performance attributes on the link position error. The developed full state feedback controller, is realized without incorporating knowledge relative to the actual system nonlinearities. Furthermore, no approximators are employed to acquire such information. Comparative simulation results on a 2-d.o.f. flexible joint manipulator, illustrate the efficiency of the approach.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 49, Issue 5, May 2013, Pages 1137–1147
نویسندگان
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