Singular perturbation approach for control of hydraulically driven flexible manipulator

• 作 者: LI Guang WU Min
• 机 构: SchoolofInformationScienceandEngineering
• 出 处: 中南工业大学学报：英文版
• 发表日期: 2005年z1期
• 关键词: flexible MANIPULATOR hydraulic ACTUATOR SINGULAR PERTURBATION BACKSTEPPING CONTR
• 基金项目: Project (2001AA4422200) supported by the Teaching and Research Award Program for Outstanding Young Teachers in Higher Education Institutions of the Ministry of Education of China, project supported by

The hydraulic flexible manipulator system is divided into two parts: flexible arm dynamics and hydraulic servomechanism, a driving Jacobian is derived to connect these two parts. Taking hydraulic actuator force as virtual input, a singular perturbed compo