IDA-PBC法による2フレキシブルリンクマニピュレータのコントローラのクラス
2004 年 40 巻 12 号 p. 1243-1245
詳細
2004 年 40 巻 12 号 p. 1243-1245
Recently it is becoming popular to utilize energy functions for controller design, and IDA-PBC method is one of them. In this paper, we apply IDA-PBC (Interconnection and Damping Assignment-Passivity Based Control) method to flexiblelink manipulator and derive a general class of controller under some assumptions on modified system.
