Output tracking for a non-minimum phase robotic manipulator

T. Berger, L.J. Lanza, ArXiv:2001.07535 (2020).

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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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arXiv:2001.07535
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Berger T, Lanza LJ. Output tracking for a non-minimum phase robotic manipulator. arXiv:200107535. 2020.
Berger, T., & Lanza, L. J. (2020). Output tracking for a non-minimum phase robotic manipulator. ArXiv:2001.07535.
@article{Berger_Lanza_2020, title={Output tracking for a non-minimum phase robotic manipulator}, journal={arXiv:2001.07535}, author={Berger, Thomas and Lanza, Lukas Johannes}, year={2020} }
Berger, Thomas, and Lukas Johannes Lanza. “Output Tracking for a Non-Minimum Phase Robotic Manipulator.” ArXiv:2001.07535, 2020.
T. Berger and L. J. Lanza, “Output tracking for a non-minimum phase robotic manipulator,” arXiv:2001.07535. 2020.
Berger, Thomas, and Lukas Johannes Lanza. “Output Tracking for a Non-Minimum Phase Robotic Manipulator.” ArXiv:2001.07535, 2020.

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