Output tracking for a non-minimum phase robotic manipulator

被引：3
|
作者：
Berger, Thomas [1 ]
Lanza, Lukas [1 ]
机构：
[1] Univ Paderborn, Inst Math, Warburger Str 100, D-33098 Paderborn, Germany
来源：
IFAC PAPERSONLINE | 2021年 / 54卷 / 09期
关键词：
nonlinear systems; adaptive control; non-minimum phase; funnel control; underactuated systems; FUNNEL CONTROL; NONLINEAR-SYSTEMS; INVERSION; DYNAMICS;
D O I：
10.1016/j.ifacol.2021.06.074
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We exploit a recently developed funnel control methodology for linear non-minimum phase systems to design an output error feedback controller for a nonlinear robotic manipulator, which is not minimum phase. We illustrate the novel control design by a numerical case study, where we simulate end-effector output tracking of the robotic manipulator. Copyright (C) 2021 The Authors.
引用
收藏
页码：178 / 185
页数：8
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