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Control of a flexible manipulator with noncollocated feedback: time-domain passivity approach

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3 Author(s)
Jee-Hwan Ryu ; Dept. of Electr. Eng. & Comput. Sci., Korea Adv. Inst. of Sci. & Technol., Taejeon, South Korea ; Dong-Soo Kwon ; Hannaford, B.

A new method to control a flexible manipulator with noncollocated feedback is proposed. We introduce a method to implement the time-domain passivity-control approach to a flexible manipulator with noncollocated feedback, which could not be treated with the previous time-domain passivity-control framework due to a possible active transfer function from the input to the noncollocated output. The proposed method is simulated with a single-link flexible manipulator, and a good control performance is obtained.

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Robotics, IEEE Transactions on  (Volume:20 ,  Issue: 4 )