Abstract
A new method to control a flexible manipulator with noncollocated feedback is proposed. We introduce a method to implement the time domain passivity control approach to a flexible manipulator with noncollocated feedback, which could not be treated with the previous time domain passivity control framework due to a possibly active transfer function from the collocated output to the noncollocated output. The developed method is simulated with the model of a single link flexible manipulator and we obtained a good control performance.
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Ryu, JH., Kwon, DS., Hannaford, B. (2003). Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach. In: Bicchi, A., Prattichizzo, D., Christensen, H.I. (eds) Control Problems in Robotics. Springer Tracts in Advanced Robotics, vol 4. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36224-X_8
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DOI: https://doi.org/10.1007/3-540-36224-X_8
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