A Tracking Controller for Flexible Joint Robots Based on Separation Principle
نویسندگان
چکیده
This paper deals with the tracking control problem of flexible joint robots under the assumption that the link and robot positions are the only measured signals. A globally asymptotically stable state feedback controller and a nonlinear observer is proposed which guarantees the semiglobal asymptotic tracking of the system obtained by the designed dynamic output feedback controller. Examples illustrate the result.
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