Paper Info
Title
Structural Properties Of A Flexible-Joint Robot Model With Output Controllers And Some Related Applications
Abstract
This paper considers some structural properties of an n-degree-of-freedom flexible-joint robot with a simple stabilizing output controller. It is well known that, in a nonlinear system, global asymptotic stability does not necessarily imply local exponential stability, while the latter property provides an essential tool in studying various control problems. This study shows that for the model under consideration, global asymptotic stability implies local exponential stability. Applications of this result to the topic of small-signal finite-gain L-p stability and to the analysis of the perturbed system are considered. Finally, we show how a local stabilizing controller which is based on position measurements only can be integrated into a strategy that ensures, under some conditions of system uncertainty, set-point regulation (in the global sense) of an uncertain flexible-joint robot. Simulation results, which demonstrate the applications of a control scheme that is presented in this study, are included.
Year
DOI
Venue
2000
10.1080/002077200291217
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
Field
DocType
Volume
Mathematical optimization,Control theory,Nonlinear system,Control theory,Control engineering,Exponential stability,Robot,Mathematics
Journal
31
Issue
ISSN
Citations 
3
0020-7721
2
PageRank 
References 
Authors
0.56
0
3
Name
Order
Citations
PageRank
Amit Ailon19115.23
Eunseok Choi27411.22
Byung-Ha Ahn319225.96