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arXiv · 2001.07535

Output tracking for a non-minimum phase robotic manipulator

Thomas Berger·Lukas Lanza
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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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Thomas Berger, Lukas Lanza. 2020-01-21. Output tracking for a non-minimum phase robotic manipulator. https://arxiv.org/abs/2001.07535

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