On the Robust Trajectory Tracking Task for Flexible-Joint Robotic Arm With Unmodeled Dynamics

On the Robust Trajectory Tracking Task for Flexible-Joint Robotic Arm With Unmodeled Dynamics

This paper is concerned with the design and experimental assessment of, both, feedback linearization and sliding mode control techniques to the tracking trajectory problem of a flexible-joint robotic arm for a smooth rest to rest maneuver. The robust improvement of these controllers is analyzed by m...

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Bibliographic Details
Main Authors: Mario Ramirez-Neria, Gilberto Ochoa-Ortega, Norma Lozada-Castillo, Miguel Angel Trujano-Cabrera, Juan Pablo Campos-Lopez, Alberto Luviano-Juarez
Format: Article
Language:English
Published: IEEE 2016-01-01
Series:IEEE Access
Subjects:
Feedback linearization
sliding mode control
robustness
flexible-joint robotic systems
Online Access:https://ieeexplore.ieee.org/document/7592936/

Internet

https://ieeexplore.ieee.org/document/7592936/

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