Output tracking for a non-minimum phase robotic manipulator
T. Berger, L.J. Lanza, IFAC-PapersOnLine (2021) 178–185.
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Journal Article
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Author
Berger, Thomas;
Lanza, Lukas JohannesLibreCat
Abstract
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.
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IFAC-PapersOnLine
Page
178-185
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Berger T, Lanza LJ. Output tracking for a non-minimum phase robotic manipulator. IFAC-PapersOnLine. 2021:178-185. doi:10.1016/j.ifacol.2021.06.074
Berger, T., & Lanza, L. J. (2021). Output tracking for a non-minimum phase robotic manipulator. IFAC-PapersOnLine, 178–185. https://doi.org/10.1016/j.ifacol.2021.06.074
@article{Berger_Lanza_2021, title={Output tracking for a non-minimum phase robotic manipulator}, DOI={10.1016/j.ifacol.2021.06.074}, journal={IFAC-PapersOnLine}, author={Berger, Thomas and Lanza, Lukas Johannes}, year={2021}, pages={178–185} }
Berger, Thomas, and Lukas Johannes Lanza. “Output Tracking for a Non-Minimum Phase Robotic Manipulator.” IFAC-PapersOnLine, 2021, 178–85. https://doi.org/10.1016/j.ifacol.2021.06.074.
T. Berger and L. J. Lanza, “Output tracking for a non-minimum phase robotic manipulator,” IFAC-PapersOnLine, pp. 178–185, 2021.
Berger, Thomas, and Lukas Johannes Lanza. “Output Tracking for a Non-Minimum Phase Robotic Manipulator.” IFAC-PapersOnLine, 2021, pp. 178–85, doi:10.1016/j.ifacol.2021.06.074.
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