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Robust control of a flexible manipulator arm

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2 Author(s)
Korolov, V.V. ; Div. of Eng. Technol., Wayne State Univ., Detroit, MI, USA ; Chen, Y.H.

The authors consider the end-point position control problem of a one-link flexible manipulator under wide spectrum of operating conditions. Uncertain stiffness variation may arise in practice and is treated as the uncertainty. A robust control scheme is designed for the proposed control problem; the scheme is capable of achieving better accuracy for the manipulator without the complete knowledge of uncertainty. The only required information of the uncertainty is its possible bound

Published in:

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Date of Conference:

24-29 Apr 1988