Publication

Saturated Control without Velocity Measurements for Planar Robots with Flexible Joints

Wesselink, T., Borja Rosales, P. & Scherpen, J. M. A., 2019, (Accepted/In press) Proceedings of the 58th Conference on Decision and Control. IEEE

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

In this work, we propose a saturated passivity-based controller that addresses the problem of set-point regulation for planar robots with two links and flexible joints. Moreover, the controller does not require velocity measurements. We implement the control law and present experimental results.
Original languageEnglish
Title of host publicationProceedings of the 58th Conference on Decision and Control
PublisherIEEE
Publication statusAccepted/In press - 2019
Event58th Conference on Decision and Control (CDC2019) - Nice, France
Duration: 11-Dec-201913-Dec-2019

Conference

Conference58th Conference on Decision and Control (CDC2019)
CountryFrance
CityNice
Period11/12/201913/12/2019

Event

58th Conference on Decision and Control (CDC2019)

11/12/201913/12/2019

Nice, France

Event: Conference

    Keywords

  • Stability of nonlinear systems, Robotics

ID: 98550305