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• W1970419790 abstract "This work proposes an adaptive control scheme applied to single link-flexible manipulators, which combines a feedback controller of the joint angle with an adaptive input shaper updated by an algebraic non-asymptotic identification. The feedback controller is designed to guarantee trajectory tracking of the joint angle, simplifying thus the input shaper, which can be designed for the arm dynamics only. The input shaper is updated by an algebraic identification of the natural frequency corresponding to the first vibration mode of the arm. In addition, the influence of the assumptions adopted to derive the algebraic identification on the performance of the estimation is studied. Finally, the proposed adaptive control strategy is implemented in practice." @default.
• W1970419790 created "2016-06-24" @default.
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• W1970419790 date "2012-02-01" @default.
• W1970419790 modified "2023-10-01" @default.
• W1970419790 title "Adaptive input shaping for single-link flexible manipulators using an algebraic identification" @default.
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• W1970419790 doi "https://doi.org/10.1016/j.conengprac.2011.10.004" @default.
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