Stabilizing robots with uncertain parameters actuated by DC motors with flexible coupling shafts

Amit Ailon; Michael I. Gil; Eun Seok Choi; Byung Ha Ahn

Stabilizing robots with uncertain parameters actuated by DC motors with flexible coupling shafts

Amit Ailon, Michael I. Gil, Eun Seok Choi, Byung Ha Ahn

Research output: Contribution to conference › Paper › peer-review

4 Scopus citations

Abstract

This study presents a linear output-based controller for stabilizing a rigid-link flexible-joint electrically driven (RLFJED) robot manipulator, under some conditions of system uncertainty. The proposed controller ensures local exponential stability. The controller is analyzed using tools for pole placement by an output-feedback borrowed from the linear system theory. Applications of the results to the set-point regulation control problem are considered.

Original language	English
Pages	877-881
Number of pages	5
State	Published - 1 Dec 1998
Externally published	Yes
Event	Proceedings of the 1998 IEEE International Conference on Control Applications. Part 2 (of 2) - Trieste, Italy Duration: 1 Sep 1998 → 4 Sep 1998

Conference

Conference	Proceedings of the 1998 IEEE International Conference on Control Applications. Part 2 (of 2)
City	Trieste, Italy
Period	1/09/98 → 4/09/98

ASJC Scopus subject areas

Control and Systems Engineering

Cite this

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title = "Stabilizing robots with uncertain parameters actuated by DC motors with flexible coupling shafts",

abstract = "This study presents a linear output-based controller for stabilizing a rigid-link flexible-joint electrically driven (RLFJED) robot manipulator, under some conditions of system uncertainty. The proposed controller ensures local exponential stability. The controller is analyzed using tools for pole placement by an output-feedback borrowed from the linear system theory. Applications of the results to the set-point regulation control problem are considered.",

author = "Amit Ailon and Gil, {Michael I.} and Choi, {Eun Seok} and Ahn, {Byung Ha}",

year = "1998",

month = dec,

day = "1",

language = "English",

pages = "877--881",

note = "Proceedings of the 1998 IEEE International Conference on Control Applications. Part 2 (of 2) ; Conference date: 01-09-1998 Through 04-09-1998",

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TY - CONF

T1 - Stabilizing robots with uncertain parameters actuated by DC motors with flexible coupling shafts

AU - Ailon, Amit

AU - Gil, Michael I.

AU - Choi, Eun Seok

AU - Ahn, Byung Ha

PY - 1998/12/1

Y1 - 1998/12/1

N2 - This study presents a linear output-based controller for stabilizing a rigid-link flexible-joint electrically driven (RLFJED) robot manipulator, under some conditions of system uncertainty. The proposed controller ensures local exponential stability. The controller is analyzed using tools for pole placement by an output-feedback borrowed from the linear system theory. Applications of the results to the set-point regulation control problem are considered.

AB - This study presents a linear output-based controller for stabilizing a rigid-link flexible-joint electrically driven (RLFJED) robot manipulator, under some conditions of system uncertainty. The proposed controller ensures local exponential stability. The controller is analyzed using tools for pole placement by an output-feedback borrowed from the linear system theory. Applications of the results to the set-point regulation control problem are considered.

UR - http://www.scopus.com/inward/record.url?scp=0032300662&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:0032300662

SP - 877

EP - 881

T2 - Proceedings of the 1998 IEEE International Conference on Control Applications. Part 2 (of 2)

Y2 - 1 September 1998 through 4 September 1998

ER -

Stabilizing robots with uncertain parameters actuated by DC motors with flexible coupling shafts

Abstract

Conference

ASJC Scopus subject areas

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