Control of a flexible joint robot manipulator via a non-linear control-observer scheme

被引：10
作者：
De León-Morales, J
Alvarez-Leal, JG
Castro-Linares, R
Alvarez-Gallegos, J
机构：
[1] Univ Autonoma Nuevo Leon, Programa Doctoral Ingn, San Nicolas De Los Garza 66451, NL, Mexico
[2] Inst Tecnol Saltillo, Saltillo 25280, Coahuila, Mexico
[3] IPN, CINVESTAV, Dept Ingn Elect, Mexico City 07300, DF, Mexico
来源：
INTERNATIONAL JOURNAL OF CONTROL | 2001年 / 74卷 / 03期
关键词：
D O I：
10.1080/00207170010004080
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A non-linear controller-observer scheme for the output tracking of a class of non-linear singularly perturbed systems based on a two-time scale sliding-mode technique and a high gain estimator, is presented. An analysis of stability of the resultant closed-loop system is given. The proposed scheme is applied to the model of a two degrees of freedom flexible joint robot to show the controller-observer methodology proposed.
引用
收藏
页码：290 / 302
页数：13
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