{"user_id":"78640","citation":{"bibtex":"@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} }","chicago":"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.","ama":"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","apa":"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","mla":"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.","ieee":"T. Berger and L. J. Lanza, “Output tracking for a non-minimum phase robotic manipulator,” IFAC-PapersOnLine, pp. 178–185, 2021.","short":"T. Berger, L.J. Lanza, IFAC-PapersOnLine (2021) 178–185."},"year":"2021","publication_identifier":{"issn":["2405-8963"]},"abstract":[{"text":"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.","lang":"eng"}],"title":"Output tracking for a non-minimum phase robotic manipulator","_id":"23277","type":"journal_article","page":"178-185","main_file_link":[{"url":"https://www.sciencedirect.com/science/article/pii/S2405896321005309"}],"author":[{"full_name":"Berger, Thomas","last_name":"Berger","first_name":"Thomas"},{"first_name":"Lukas Johannes","last_name":"Lanza","full_name":"Lanza, Lukas Johannes","id":"78640"}],"date_updated":"2022-01-06T06:55:48Z","date_created":"2021-08-09T09:13:11Z","language":[{"iso":"eng"}],"doi":"10.1016/j.ifacol.2021.06.074","publication":"IFAC-PapersOnLine","publication_status":"published","status":"public"}