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|Title:||Tracking controller design for robot manipulators including motor dynamics||Authors:||Yin, Guang.||Keywords:||DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics||Issue Date:||1997||Abstract:||This research project contains three main aspects. First, an observer-based controller is considered for the flexible-joint robot including actuator dynamics, namely, the DC motor. Assuming the measurable signals are link and motor positions of the robot, a nonlinear observer is proposed which estimates all state variables asymptotically. Based on this observer, a dynamic output feedback controller is presented for the flexible-joint robot including motor dynamics, which guarantees asymptotic tracking of a desired trajectory. Simulation results are provided to illustrate the performance of the observer and controller.||URI:||http://hdl.handle.net/10356/19597||Rights:||NANYANG TECHNOLOGICAL UNIVERSITY||Fulltext Permission:||restricted||Fulltext Availability:||With Fulltext|
|Appears in Collections:||EEE Theses|
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