Some Simulation Results On The Robustness Of A Flexible–Arm Nonlinear Control Law
- 1 January 1992
- journal article
- research article
- Published by Taylor & Francis in International Journal of Modelling and Simulation
- Vol. 12 (1) , 1-7
- https://doi.org/10.1080/02286203.1992.11760139
Abstract
This paper discusses the robustness of a flexible ann nonlinear control law. Using a ftnite element description of the ann, we get a nonlinear model. The control of a set of state variables is obtained using a nonlinear decoupling method that is performed on the inverse dynamic model. We study the sensitivity of the result with respect to variations on the model parameters, and give some simulation results.Keywords
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