Backstepping Controller for Electrically Driven Flexible Joint Manipulator Under Uncertainties
نویسندگان
چکیده
منابع مشابه
An Adaptive Controller Design for Flexible-joint Electrically-driven Robots With Consideration of Time-Varying Uncertainties
Almost all present control strategies for electrically-driven robots are under the rigid robot assumption. Few results can be found for the control of electrically driven robots with joint flexibility. This is because the presence of the joint flexibility greatly increases the complexity of the system dynamics. What is worse is when some system dynamics are not available and a good performance ...
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ژورنال
عنوان ژورنال: IAES International Journal of Robotics and Automation (IJRA)
سال: 2015
ISSN: 2089-4856,2089-4856
DOI: 10.11591/ijra.v4i2.pp156-163