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Speed and position control of a flexible joint robot manipulator via a nonlinear control-observer scheme

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4 Author(s)
De Leon-Morales, J. ; Fac. Ing. Mecanica y Electrica, UANL, San Nicolas de los Garza, Mexico ; Alvarez-Leal, J.G. ; Castro-Linares, R. ; Alvarez-Gallegos, J.

A nonlinear control-observer structure for a class of nonlinear singularly perturbed systems, based on a two-time scale sliding-mode technique and a high gain estimator, is presented. The structure is applied to the model of a single-link flexible joint robot manipulator

Published in:

Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on

Date of Conference:

5-7 Oct 1997