کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
799165 | 1467691 | 2012 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
A nonlinear high gain observer based input–output control of flexible link manipulator
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی مکانیک
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: A nonlinear high gain observer based input–output control of flexible link manipulator A nonlinear high gain observer based input–output control of flexible link manipulator](/preview/png/799165.png)
چکیده انگلیسی
The input–output control strategy needs all of the states feedback. However, in flexible link robot manipulators, measuring the time rate of elastic degrees of freedom is practically impossible. In this paper, a new nonlinear high gain observer has been developed to estimate the elastic degrees of freedom and their time derivatives. The control strategy is based on an output redefinition approach which stabilizes the zero dynamics of the manipulator. Finally, the results are presented by implementing the proposed observer and controller on a single link flexible manipulator. Numerical simulations will support the validity of our research results.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanics Research Communications - Volume 45, October 2012, Pages 34–41
Journal: Mechanics Research Communications - Volume 45, October 2012, Pages 34–41
نویسندگان
Masoud Mosayebi, Mostafa Ghayour, Mohammad Jafar Sadigh,