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Tip Tracking Control of a Single-Link Flexible Robot: A Backstepping Approach

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Dynamics and Control

Abstract

In this paper, tip tracking control is investigated for a single-link flexible robot. The flexible beam is first lumped to a spring-mass system, to which the so called backstepping approach is applicable, then two robust controllers and an adaptive controller are developed in the presence of system disturbances/uncertainties. The controllers are rigorously proven to be able to achieve stable tip position and velocity tracking control in the sense of Global Uniform Ultimate Boundedness (GUUB). Numerical simulation results are provided which show that the proposed controllers are effective.

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Authors and Affiliations

  1. Centre for Intelligent Control, Department of Electrical Engineering, National University of Singapore, 10 Kent Ridge, Crescent, Singapore, 119260

    G. Zhu, T. H. Lee & S. S. Ge

Authors
  1. G. Zhu
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  2. T. H. Lee
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  3. S. S. Ge
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Zhu, G., Lee, T.H. & Ge, S.S. Tip Tracking Control of a Single-Link Flexible Robot: A Backstepping Approach. Dynamics and Control 7, 341–360 (1997). https://doi.org/10.1023/A:1008220427072

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