Control of a Class of Manipulators With a Single Flexible Link: Part II—Observer-Controller Stabilization

[+] Author and Article Information
D. Wang

Department of Electrical Engineering, University of Waterloo, Waterloo, Ontario, Canada, N2L 3G1

M. Vidyasagar

Center of Artificial Intelligence and Robotics, Bangalore, India

J. Dyn. Sys., Meas., Control 113(4), 662-668 (Dec 01, 1991) (7 pages) doi:10.1115/1.2896472 History: Received July 03, 1990; Revised September 18, 1990; Online March 17, 2008


In this paper, a controller and observer design is proposed for a class of multi-link manipulators with one flexible link. It is shown that it is possible to transform the state space equations of these manipulators into an equivalent set of equations which are almost linear. The controller then uses a nonlinear state feedback which is designed based only on the linear part of the transformed system equations. An observer is presented in which the estimated states converge to the actual states exponentially. Finally, it is shown that combining the observer with the controller results in a system which is input-output stable in a local sense.

Copyright © 1991 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.






Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In