Multiple Loop Nonlinear Control of Single Link Manipulator with Flexible Joint
نویسنده
چکیده
−In the paper you will implement a set point control system for the single-link manipulator with flexible joint using a multiloop controller based on feedback linearization (inner loop) and linear statefeedback control (outer loop). Then, you will modify the multiloop controller to solve a trajectory tracking problem. The simulations demonstrate that the multi-loop control law it is a viable method for control motion of the flexible joint manipulator.
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