Trajectory Tracking Control of a Flexible Mobile Robot using Disturbance Observer
1998 ◽
Vol 10
(3)
◽
pp. 272-277
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Keyword(s):
This paper describes trajectory tracking control for a flexible mobile robot using a disturbance observer. The robot consists of a wheeled mobile mechanism and a flexible structure of four flexible beams and a work table. Trajectory tracking control is compound control of a disturbance observer and feedforward compensation two-degree-of-freedom (2DOF) controller. The feedforward compensation 2DOF controller consists of a feedforward controller and a state feedback controller. Experimental and numerical simulation results confirmed that trajectory tracking control of the robot work table is possible with trajectory control using the disturbance observer.
1997 ◽
Vol 63
(613)
◽
pp. 3201-3206
Keyword(s):
2017 ◽
Vol 21
(2)
◽
pp. 265-276
2019 ◽
Vol 1176
◽
pp. 052052
2014 ◽
Vol 28
(8)
◽
pp. 751-765
◽
2021 ◽
pp. 095441002110147