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- W2640923462 abstract "Abstract In this paper, the experimental results of an actual implementation of a robust tracking controller on a robotic manipulator are presented. The objective is to follow a ramp reference input with zero steady state error in the presence of a disturbance and system parameter variations. The main difficulties are caused by the Coulomb frictions, the disturbance due to the gravitational pull. the spring effect of the link between the drive motor and the manipulator arm, and the unmeasurable state variables. The controller is based on feeding back delayed values of the observable variables and augmenting the system by additional integrators. The feedback gain parameters are obtained by first applying the quadratic optimal control theory and then readjusting the feedback parameters to eliminate the limit cycle by using the describing function method" @default.
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- W2640923462 date "1987-07-01" @default.
- W2640923462 modified "2023-09-26" @default.
- W2640923462 title "Robust Optimal Tracking Controller for a Robotic Manipulator" @default.
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- W2640923462 doi "https://doi.org/10.1016/s1474-6670(17)55334-3" @default.
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