Control of Underactuated Manipulators using Variable Period Deadbeat Control
نویسندگان
چکیده
A new digital control method for a time varying sampled data system called a variable period deadbeat control is proposed to control high order nonholonomic chained systems with drift terms. This control law has a potential to avoid an excessive overshoot to prevent the trajectories close to the singular manifold of the transformation needed to obtain the chained forms. The control will be applied to the control of a three link underactuated manipulator.
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