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Optimal nonlinear controller design for flexible robot manipulators with adaptive internal model
(INST Engineering Technology-IET, 2007-05)
Developing nonlinear adaptive and robust controllers for a two-link flexible robot arm is the main objective of this research. The dynamic state feedback controller is used to achieve robust regulation of the rigid modes ...
Optimal nonlinear control of two-link flexible arm with adaptive internal model
(2005)
The control of highly nonlinear multi-link flexible arms is subject to uncertainties caused by backlash, payload changes and external disturbances.Therefore, adaptive and robust control of multi-link flexible arms is a ...