A Robust Nonlinear Observation Strategy for the Control of Flexible ManipulatorsReportar como inadecuado


A Robust Nonlinear Observation Strategy for the Control of Flexible Manipulators


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Flexibility is often an unavoidable consequence of the desire for high speed and performance manipulators.
This paper proposes a method that improves the performance of flexible manipulators through the employment of robust state estimation techniques.
These techniques are based on discrete time Kalman filtering and sliding mode principles.
A simple model for a single degree of freedom flexible manipulator is derived and a control scheme is chosen and implemented.
The latter includes a robust non-linear estimator.
Simulation and preliminary experimental results are presented that demonstrate the validity of the proposed control scheme.



Intelligent Machine Dynamics Laboratory - Intelligent Machine Dynamics Laboratory Publications -



Autor: Post, Brian K.
- Book, Wayne John - -


Fuente: https://smartech.gatech.edu/



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