Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach

Ryu, J.H. and Kwon, D.S. and Hannaford, B. (2003) Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach. In: Control Problems in Robotics. Springer Tracts in Advanced Robotics Series, pp. 121-134.

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Abstract

A new method to control a flexible manipulator with noncollocated feedback is proposed. We introduce a method to implement the time domain passivity control approach to a flexible manipulator with noncollocated feedback, which could not betreated with the previous time domain passivity control framework due to a possibly active transfer function from the collocated output to the noncollocated output. The developed method is simulated with the model of a single link flexible manipulator and we obtained a good control performance.

Item Type: Book Section
Subjects: Z Other
Divisions: Department of Electrical Engineering
Depositing User: Margaret Thompson
Date Deposited: 07 Jul 2015 23:31
Last Modified: 07 Jul 2015 23:31
URI: http://brl.ee.washington.edu/eprints/id/eprint/24

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