Geodesic
Order reduction of control and estimation problems for flexible joint manipulator
Matematičeskoe modelirovanie, Tome 26 (2014) no. 7, pp. 72-86

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The integral manifold method is used in the paper for controller design for manipulators with flexible joints in the case of a small friction. For a class of nonlinear systems a nonlinear controller, that achieves asymptotic tracking of given trajectory, is designed. It shows the existence of a lower order control problems, which are equivalent to an original singularly perturbed problems with initial conditions restricted to a slow integral manifold.
Keywords: flexible joint manipulator, optimal control, integral manifold.
Mots-clés : LQR 
@article{MM_2014_26_7_a5,
     author = {M. Osintcev and V. Sobolev},
     title = {Order reduction of control and estimation problems for flexible joint manipulator},
     journal = {Matemati\v{c}eskoe modelirovanie},
     pages = {72--86},
     publisher = {mathdoc},
     volume = {26},
     number = {7},
     year = {2014},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/MM_2014_26_7_a5/}
}
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M. Osintcev; V. Sobolev. Order reduction of control and estimation problems for flexible joint manipulator. Matematičeskoe modelirovanie, Tome 26 (2014) no. 7, pp. 72-86. http://geodesic.mathdoc.fr/item/MM_2014_26_7_a5/