Characterization, modeling and robust control of a nonlinear 2-dof piezocantilever for micromanipulation/microassembly.
Micky RakotondrabeJoël AgnusKanty RabenorosoaNicolas ChailletPublished in: IROS (2009)
Keyphrases
- highly nonlinear
- robotic manipulator
- tracking control
- control system
- computationally efficient
- path planning
- degrees of freedom
- control method
- robust estimation
- optimal control
- nonlinear dynamics
- robotic arm
- robust stability
- disturbance rejection
- model predictive control
- adaptive neural
- feedback control
- linear systems
- control strategy
- data acquisition
- power system