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Output tracking for a non-minimum phase robotic manipulator (2001.07535v2)
Published 21 Jan 2020 in math.OC
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.
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