Seyed M. Esmaeilzadeh

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In this paper, a full nonlinear analytical model of a single link flexible manipulator consisting of a rotary joint and a flexible link, handling uniform payload at the tip considering its inertia is developed based on extended Hamilton-assumed mode method. Due to model nonlinearities, a nonlinear control strategy directly based on the strain gauges(More)
In this paper a control algorithm based on a design technique named " Robust Damping Control " is introduced. A robust observer is further shown to overcome the problem of using velocity sensors that may degrade the system performance. The proposed controller uses only position measurements and is capable of disturbance rejection in the presence of unknown(More)
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