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03 July 2022
 
  » arxiv » 2001.7535

 Article overview


Output tracking for a non-minimum phase robotic manipulator
Thomas Berger ; Lukas Lanza ;
Date 21 Jan 2020
AbstractWe 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.
Source arXiv, 2001.7535
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