{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T21:34:25Z","timestamp":1767648865089,"version":"3.48.0"},"reference-count":32,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2011,10,19]],"date-time":"2011-10-19T00:00:00Z","timestamp":1318982400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2012,4]]},"abstract":"<jats:p>\n                    This paper presents a composite controller for tip position tracking of flexible link manipulators. The main control challenge for flexible link manipulators is the non-minimum phase characteristics of the system. In this regard, an inner\/outer control structure is proposed. As opposed to previous research in this area, the desired reference trajectory is robustly\n                    <jats:italic toggle=\"yes\">modified<\/jats:italic>\n                    in an\n                    <jats:italic toggle=\"yes\">online<\/jats:italic>\n                    scheme to minimize the tip tracking error utilizing the outer controller. The outer trajectory modifier is a\n                    <jats:inline-formula>\n                      <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"inline\" overflow=\"scroll\">\n                        <mml:mrow>\n                          <mml:mi>\u03bc<\/mml:mi>\n                        <\/mml:mrow>\n                      <\/mml:math>\n                    <\/jats:inline-formula>\n                    synthesis based controller which modifies the reference trajectory of the inner loop in the uncertain situations. The inner loop controller is based on the Lyapunov redesign feedback linearization (LRFL) approach which is applied to alleviate the degrading effects of uncertainties and non-linearities presents in the dynamics of the flexible-link manipulator. In the inner loop, a conventional redefined output namely \u2018close to the tip\u2019 is considered to avoid the difficulties associated with the non-minimum phase behaviour of the main output (the tip). Conventional control strategies based on this choice of outputs lead to undesirable oscillations in the tip position. However, these oscillations are considerably minimized by applying the proposed outer loop trajectory modifier. Experimental and Simulation results are presented to illustrate the significant improvements in tip tracking performance over the conventional methods.\n                  <\/jats:p>","DOI":"10.1177\/0959651811422179","type":"journal-article","created":{"date-parts":[[2011,10,19]],"date-time":"2011-10-19T20:59:03Z","timestamp":1319057943000},"page":"523-536","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":4,"title":["Robust trajectory modification for tip position tracking of flexible-link manipulators"],"prefix":"10.1177","volume":"226","author":[{"given":"S F","family":"Atashzar","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran"}]},{"given":"H A","family":"Talebi","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran"}]},{"given":"M","family":"Shahbazi","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran"}]},{"given":"F","family":"Towhidkhah","sequence":"additional","affiliation":[{"name":"Biomedical Engineering Faculty, Amirkabir University of Technology, Tehran, Iran"}]},{"given":"M J","family":"Yazdanpanah","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, University of Tehran, Tehran, Iran"}]}],"member":"179","published-online":{"date-parts":[[2011,10,19]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-005-0582-y"},{"key":"e_1_3_2_3_2","first-page":"1618","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Tavakoli M.","unstructured":"Tavakoli M., Howe R. D. The effect of joint elasticity on bilateral Teleoperation. In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, IEEE, San Diego, 2007, pp. 1618\u20131623."},{"key":"e_1_3_2_4_2","first-page":"377","volume-title":"Proceedings of the 16th Symposium on Haptic Interfaces for Virtual Environments & Teleoperator Systems","author":"Tavakoli M.","unstructured":"Tavakoli M., Howe R. D. Haptic implications of tool flexibility in surgical Teleoperation. In Proceedings of the 16th Symposium on Haptic Interfaces for Virtual Environments & Teleoperator Systems, IEEE, Reno, 2008, pp. 377\u2013378."},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1177\/095965180321700409"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1243\/09544062JMES1880"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1243\/09544062JMES1015"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1243\/09596518JSCE355"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1243\/09596518JSCE785"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1243\/0959651971539669"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1243\/09596518JSCE594"},{"key":"e_1_3_2_12_2","volume-title":"Control of flexible-link manipulators using neural networks","author":"Talebi H. A","year":"2001","unstructured":"Talebi H. A, Patel R. V., Khorasani K. Control of flexible-link manipulators using neural networks. Lecture Notes in Control and Information Sciences, No. 261, 2001 (Springer, Berlin)."},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199709)14:9<649::AID-ROB2>3.0.CO;2-L"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1243\/095965105X33554"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1002\/1097-4563(200007)17:7<385::AID-ROB4>3.0.CO;2-3"},{"key":"e_1_3_2_16_2","doi-asserted-by":"publisher","DOI":"10.1243\/09544062JMES2106"},{"key":"e_1_3_2_17_2","first-page":"1042","article-title":"Transfer functions for a single flexible link","volume":"2","author":"Wang D.","year":"1989","unstructured":"Wang D., Vidyasagar M. Transfer functions for a single flexible link. Proc. IEEE Int. Conf. Robotics Automat., 1989, 2, 1042\u20131047.","journal-title":"Proc. IEEE Int. Conf. Robotics Automat."},{"key":"e_1_3_2_18_2","first-page":"234","volume-title":"Lecture Notes in Control and Information Sciences","volume":"208","author":"Hashtrudi Zaad K.","year":"1996","unstructured":"Hashtrudi Zaad K., Khorasani K. Control of nonminimum phase singularly perturbed systems with applications to flexible-link manipulators. in Proceedings of the Workshop on Advances in Control and its Applications (edited by Khalil H., Chou J., Ioannou P.). Lecture Notes in Control and Information Sciences, 1996, 208, 234\u2013265."},{"key":"e_1_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.650161"},{"key":"e_1_3_2_20_2","doi-asserted-by":"publisher","DOI":"10.1243\/0959651011541328"},{"issue":"4","key":"e_1_3_2_21_2","first-page":"179","article-title":"Inverse trajectory control and zero dynamics sensitivity of an elastic manipulator","volume":"6","author":"Madhavan S. K.","year":"1991","unstructured":"Madhavan S. K., Singh S. N. Inverse trajectory control and zero dynamics sensitivity of an elastic manipulator. Int. J. Robotics and Automation, 1991, 6(4), 179\u2013191.","journal-title":"Int. J. Robotics and Automation"},{"key":"e_1_3_2_22_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0893-6080(98)00038-0"},{"key":"e_1_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.1017\/S026357470200406X"},{"key":"e_1_3_2_24_2","doi-asserted-by":"publisher","DOI":"10.1243\/09596518JSCE313"},{"key":"e_1_3_2_25_2","doi-asserted-by":"publisher","DOI":"10.1177\/095965180121500504"},{"key":"e_1_3_2_26_2","doi-asserted-by":"publisher","DOI":"10.1243\/0959651021541552"},{"key":"e_1_3_2_27_2","volume-title":"Robot modeling and control","author":"Spong M. W.","year":"2006","unstructured":"Spong M. W., Hutchinson S., Vidyasagar M. Robot modeling and control, 2006 (Wiley, New York)."},{"key":"e_1_3_2_28_2","first-page":"1407","volume-title":"Proceedings of American Control Conference","author":"Moallem M.","unstructured":"Moallem M., Patel R. V., Khorasani K. An inverse dynamics sliding control technique for flexible multi-link manipulators. In Proceedings of American Control Conference, IEEE, Albuquerque, 1997, pp. 1407\u20131411."},{"key":"e_1_3_2_29_2","first-page":"299","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent robots and systems","author":"Moallem M.","unstructured":"Moallem M., Patel R. V. A vibration control strategy for a boom mounted manipulator system for high-speed positioning. In Proceedings of the IEEE\/RSJ International Conference on Intelligent robots and systems, IEEE, South Korea, 1999, 299\u2013304."},{"key":"e_1_3_2_30_2","first-page":"339","volume-title":"Multivariable feedback control analysis and design","author":"Skogestad S.","year":"2001","unstructured":"Skogestad S., Postlethwaite I. Multivariable feedback control analysis and design, 2nd edition, 2001, Wiley Blackwell, pp. 339\u2013351.","edition":"2"},{"key":"e_1_3_2_31_2","unstructured":"http:\/\/www.quanser.com\/english\/html\/products\/fs_product_challenge.asp?lang_code=english&pcat_code=exp-rot&prod_code=R3-flexlink&tmpl=1 (accessed 17 August 2011)."},{"key":"e_1_3_2_32_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207178408933239"},{"key":"e_1_3_2_33_2","doi-asserted-by":"publisher","DOI":"10.1109\/9.29399"}],"container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651811422179","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0959651811422179","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651811422179","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T19:44:57Z","timestamp":1767642297000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0959651811422179"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,10,19]]},"references-count":32,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2012,4]]}},"alternative-id":["10.1177\/0959651811422179"],"URL":"https:\/\/doi.org\/10.1177\/0959651811422179","relation":{},"ISSN":["0959-6518","2041-3041"],"issn-type":[{"type":"print","value":"0959-6518"},{"type":"electronic","value":"2041-3041"}],"subject":[],"published":{"date-parts":[[2011,10,19]]}}}