Control of Flexible Joint Robot Based on Motor State Feedback and Dynamic Surface Approach
A controller based on dynamic surface control and observer is proposed by using motor state feedback for trajectory tracking of flexible joint robot with uncertain link dynamic model. Considering the link state information cannot be obtained, an observer is designed to estimate the link state inform...
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| Main Author: | |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2019-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2019/5431636 |
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