Causal approximate inversion for control of structurally flexible manipulators using nonlinear inner-outer factorization

DOI10.1002/rob.1031zbMath1008.70006OpenAlexW2067038916MaRDI QIDQ2744218

A. G. Cree, Christopher John Damaren

Publication date: 19 September 2001

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.1031

zbMATH Keywords

state-dependent Riccati equationHamilton-Jacobi equationinverse dynamicsflexible-link manipulatorsplanar three-link manipulatorcausal approximationsjoint-based feedback loopsnonlinear inner-outer factorization

Mathematics Subject Classification ID

Control, switches and devices (``smart materials) in solid mechanics (74M05) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Cites Work

• Unnamed Item
• The all-pass property of optimal open-loop tracking systems
• Inversion-based nonlinear control of robot arms with flexible links
• A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator
• An inverse dynamics control strategy for tip position tracking of flexible multi-link manipulators
• Passivity analysis for flexible multilink space manipulators
• J-inner-outer factorization, J-spectral factorization, and robust control for nonlinear systems
• Nonlinear inversion-based output tracking

This page was built for publication: Causal approximate inversion for control of structurally flexible manipulators using nonlinear inner-outer factorization