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Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters

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Abstract

This study presents a linear output-based controller for stabilizing a rigid-link flexible-joint electrically driven (RLFJED) robot manipulator. The proposed controller ensures local exponential stability under some uncertainty conditions. It is assumed that the velocity signals from the link side are not measurable. The controller is analyzed by using tools for pole placement by an output-feedback in the framework of the linear system theory. Some useful structural properties of the systems under consideration have been studied. Applications of the results to the set-point regulation control problem are considered.

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Authors and Affiliations

  1. Department of Electrical and Computer Engineering, Ben Gurion University of the Negev (BGU), 84105, Beer Sheva, Israel

    Amit Ailon

  2. Department of Mechatronics, Kwangju Institute of Science and Technology, 506-712, Kwangju, Korea

    Amit Ailon

  3. Department of Mathematics, Ben Gurion University of the Negev, 84105, Beer Sheva, Israel

    Michael I. Gil

  4. Department of Mechatronics, Kwangju Institute of Science and Technology, 506-712, Kwangju, Korea

    Eun-Seok Choi

  5. Department of Mechatronics, Kwangju Institute of Science and Technology, 506-712, Kwangju, Korea

    Byung-Ha Ahn

Authors
  1. Amit Ailon
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  2. Michael I. Gil
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  3. Eun-Seok Choi
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  4. Byung-Ha Ahn
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Ailon, A., Gil, M.I., Choi, ES. et al. Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters. Circuits Systems and Signal Process 18, 131–147 (1999). https://doi.org/10.1007/BF01206679

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  • DOI: https://doi.org/10.1007/BF01206679

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