Sliding observer-based feedback control for flexible joints manipulator

DOI10.1016/0005-1098(96)00069-6zbMath0863.93054OpenAlexW2015352329MaRDI QIDQ1815718

Jean-Pierre Barbot, Jacques Hernandez

Publication date: 10 June 1997

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0005-1098(96)00069-6

zbMATH Keywords

trackingsingular perturbationnonlinear observeroutput feedbackflexible manipulatorssliding observer

Mathematics Subject Classification ID

Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12) Singular perturbations of ordinary differential equations (34D15)

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Cites Work

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• Modeling and Control of Elastic Joint Robots
• Composite control of non-linear singularly perturbed systems: a geometric approach
• Sliding-mode control for singularly perturbed systems
• On the control of regularly e-perturbed nonlinear systems
• Observing the state of non-linear dynamic systems

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