| Autor: |
José de Jesús Rubio, Ricardo Barrón-Fernández, Miguel S. Suarez-Castanon, Carlos Aguilar-Ibanez, Belem Saldivar |
| Rok vydání: |
2021 |
| Předmět: |
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| Zdroj: |
Advances in Automation and Robotics Research ISBN: 9783030900328 |
| Popis: |
A model-free control approach-based solution for the trajectory tracking control problem of an uncertain flat system is presented. The solution was accomplished by solving a nonlinear uncertain second-order flat system. The unknown matching dynamics are identified through a conveniently proposed algebraic estimator or iterated integrator. The non-available states were obtained by applying a high-gain observer. The stability analysis of the closed-loop system, together with the high-gain observer, was accomplished through the Lyapunov method. The effectiveness of the proposed controller was evaluated in a partially known 2-DOF manipulator, having obtained satisfactory results. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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