Paper Info
Title
Generalized Pi Control For Global Position Regulation Of Flexible Joint Robot Manipulators
Abstract
In this note we present two control schemes for flexible joint robots which combines generalized PI (GPI) control with energy shaping-damping injection control. We introduce a velocity reconstructor to avoid measurements of this variable. In both cases, we show global asymptotic stability of the desired equilibrium point.
Year
DOI
Venue
2003
10.1109/ACC.2003.1242561
PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6
Keywords
DocType
ISSN
generalized proportional integral control, integral reconstructors, flexible joint robot control, energy shaping and damping injection
Conference
0743-1619
Citations 
PageRank 
References 
0
0.34
0
Authors
2
Name
Order
Citations
PageRank
victor m hernandez100.34
Hebertt Sira-Ramirez210023.28