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The sliding mode algorithm for control of vibration in a flexible structure has been formulated when states are estimated using an observer. Singular-value approach is used to study the robustness of this control system to observation spillover. Numerical examples are presented for a simply supported beam and a flexible tetrahedral truss. For the simply(More)
A digital state feedback control algorithm has been developed to obtain the near-minimum-time trajectory for the end-effector of a robot manipulator. In this algorithm, the poles of the linearized closed loop system are judiciously placed in the Z-plane to permit minimum-time response without violating the constraints on the actuator torques. The validity(More)
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