Output tracking for a non-minimum phase robotic manipulator
Optimization and Control
2021-03-31 v2
Abstract
We exploit a recently developed funnel control methodology for linear non-minimum phase systems to design an output error feedback controller for a nonlinear robotic manipulator, which is not minimum phase. We illustrate the novel control design by a numerical case study, where we simulate end-effector output tracking of the robotic manipulator.
Keywords
Cite
@article{arxiv.2001.07535,
title = {Output tracking for a non-minimum phase robotic manipulator},
author = {Thomas Berger and Lukas Lanza},
journal= {arXiv preprint arXiv:2001.07535},
year = {2021}
}