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Nonlinear control techniques for flexible joint manipulators: A single link case study

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2 Author(s)
Marino, R. ; Universita di Roma, Roma, Italia ; Spong, M.

In this paper we study the nonlinear control problem for a single link manipulator with joint elasticity. We illustrate several recent nonlinear control techniques, namely feedback linearization, integral manifold and composite control. We work out in detail both a global feedback linearizing control law and a nonlinear composite control law based on a singular perturbation formulation of the manipulator dynamics and the concept of integral manifold. The two solutions are then compared and contrasted.

Published in:

Robotics and Automation. Proceedings. 1986 IEEE International Conference on  (Volume:3 )

Date of Conference:

Apr 1986