Corpus ID: 2524565

Lyapunov Based Control of Flexible Joint Manipulator with Experimental Validation by Using Chaotic Gyroscope Synchronization

@inproceedings{Kandroodi2012LyapunovBC,
  title={Lyapunov Based Control of Flexible Joint Manipulator with Experimental Validation by Using Chaotic Gyroscope Synchronization},
  author={Mojtaba Rostami Kandroodi and Faezeh Farivar and Mahdi Aliyari Shoorehdeli},
  year={2012}
}
This paper presents a nonlinear control for trajectory tracking and vibration control of a flexible joint manipulator by using chaotic gyroscope synchronization. To study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. Based on Lyapunov stability theory, the nonlinear controller and some generic sufficient conditions for global asymptotic control are attained. In this study, the anti-control is applied to… Expand

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