TY - JOUR
T1 - Nonlinear tracking control for a lightweight flexible robot
AU - Hisseine, Dadi
AU - Lohmann, Boris
PY - 2000
Y1 - 2000
N2 - In this paper, a robust nonlinear approach to the trajectory tracking control for a lightweight flexible robot manipulator is presented. On the basis of an approximated finite-dimensional nonlinear model, the proposed control law is derived using sliding mode techniques. For the purpose of experimental comparison, we present additionally a two-time scale controller derived using singular perturbation methods. The performances of the presented tracking controllers are demonstrated by experiments carried out with the flexible robot arm, an experimental setup available in our Institute Laboratory.
AB - In this paper, a robust nonlinear approach to the trajectory tracking control for a lightweight flexible robot manipulator is presented. On the basis of an approximated finite-dimensional nonlinear model, the proposed control law is derived using sliding mode techniques. For the purpose of experimental comparison, we present additionally a two-time scale controller derived using singular perturbation methods. The performances of the presented tracking controllers are demonstrated by experiments carried out with the flexible robot arm, an experimental setup available in our Institute Laboratory.
UR - http://www.scopus.com/inward/record.url?scp=0034514356&partnerID=8YFLogxK
U2 - 10.1109/ICSMC.2000.886524
DO - 10.1109/ICSMC.2000.886524
M3 - Article
AN - SCOPUS:0034514356
SN - 0884-3627
VL - 5
SP - 3360
EP - 3365
JO - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
JF - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
ER -