대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1996년도 하계학술대회 논문집 B
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- Pages.1128-1130
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- 1996
비선형 관측기를 이용한 유연한 관절을 가진 로봇 팔의 제어기 구성
Controller design for single link robot with flexible joint using nonlinear observer
- Lee, Jang-W. (School of Electrical Eng. Seoul National University) ;
- Seo, Jin-H. (School of Electrical Eng. Seoul National University)
- 발행 : 1996.07.22
초록
A canonical form observer design method for nonlinear systems is studied. Through this method, an observer of single link robot system with flexible joint is proposed. It is shown through simulation that the system can be stabilized when using the nonlinear feedback linearizing controller and the supposed observer.
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