Sliding mode rest-to-rest stabilization and trajectory tracking for a discretized flexible joint manipulator

DOI10.1023/A:1008352113767zbMath0968.93063MaRDI QIDQ1577521

Hebertt Sira-Ramírez, Rafael Castro-Linares

Publication date: 16 September 2001

Published in: Dynamics and Control (Search for Journal in Brave)

zbMATH Keywords

trackingsliding modediscretized modeldifferential flatness paradigmfeedback linearized systemsingle-link flexible joint robotic manipulator

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18) Variable structure systems (93B12) Kinematics of mechanisms and robots (70B15)

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