Boundary Control for Flexible Manipulator Using Singular Perturbation

Application of singular perturbation techniques to control problem was discussed in [1] and have been applied to flexible manipulators by many researchers [2, 3].

[1]  Ali Saberi,et al.  Quadratic-type Lyapunov functions for singularly perturbed systems , 1981, 1981 20th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.

[2]  Bruno Siciliano,et al.  A Singular Perturbation Approach to Control of Lightweight Flexible Manipulators , 1988, Int. J. Robotics Res..

[3]  Wei He,et al.  Adaptive boundary control of a flexible manipulator with input saturation , 2016, Int. J. Control.

[4]  Hassan K. Khalil.  Output feedback control of linear two-time-scale systems , 1987 .

[5]  Y. Aoustin,et al.  The singular perturbation control of a two-flexible-link robot , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[6]  P. Kokotovic.  Applications of Singular Perturbation Techniques to Control Problems , 1984 .