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