Nonlinear tracking control for a lightweight flexible robot

Dadi Hisseine, Boris Lohmann

Research output: Contribution to journalArticlepeer-review

3 Scopus citations

Abstract

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.

Original languageEnglish
Pages (from-to)3360-3365
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume5
DOIs
StatePublished - 2000
Externally publishedYes

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