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

页码：178 / 185

页数：8

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