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Two-time scale control and observer design for trajectory tracking of two cooperating robot manipulators moving a flexible beam.

Ali TavasoliMohammad EghtesadHamed Jafarian
Published in: Robotics Auton. Syst. (2009)
Keyphrases
  • robot manipulators
  • sliding mode
  • trajectory tracking
  • control system
  • dynamic model
  • closed loop
  • control scheme
  • sliding mode control
  • variable structure