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• W17502459 abstract "In industry plants, a trade off between the requirements of speed and cost efficiency often results in lightweight constructions. However, this introduces elastic deflections causing vibrations and a loss in tracking precision. Hence, investigations in suitable models and control laws are necessary. By using the Projection Equation with a Ritz expansion, a set of nonlinear ordinary differential equations which describes the motion of the system is developed. The utilized control law is a combination of a feedforward and a feedback scheme. The latter is based on backstepping methods, with respect to passivity ports. Finally experimental results are shown to verify the proposed control strategy." @default.
• W17502459 created "2016-06-24" @default.
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• W17502459 date "2010-01-01" @default.
• W17502459 modified "2023-09-25" @default.
• W17502459 title "Passivity Based Backstepping Control of an Elastic Robot" @default.
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• W17502459 doi "https://doi.org/10.1007/978-3-7091-0277-0_37" @default.
• W17502459 hasPublicationYear "2010" @default.
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