Improved robust control for multi-link flexible manipulator with mismatched uncertainties

Abstract

We consider a class of flexible joint manipulator system which is nonlinear and contains uncertainty. The inertial matrix can be used to construct Lyapunov function, even though some of the joints are prismatic. We construct subsystems via backstepping method and suggest a state transformation under which implanted control is used. From this state… (More)

4 Figures and Tables

Topics

  • Presentations referencing similar topics