A position controller of a one‐link flexible robot arm

Volume: 12, Issue: 3, Pages: 285 - 291
Published: Apr 1, 1989
Abstract
In this paper, a robust simplified adaptive controller is proposed to control the motion of a one‐link flexible robot arm. In the proposed controller, the natural frequency of the first vibration mode is identified, and the output feedback control algorithm with time‐varying gains is employed. The stability of the controlled system is proved through the use of the second Liapunov's theorem. Then, experiments are carried out to evaluate the...
Paper Details
Title
A position controller of a one‐link flexible robot arm
Published Date
Apr 1, 1989
Volume
12
Issue
3
Pages
285 - 291
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