Paper Info
Title
A family of asymptotically stable tracking control laws for flexible robots
Abstract
A general family of asymptotically stabilizing tracking control laws is introduced for a class of nonlinear Hamiltonian systems. The inherent passivity property of this class of systems ad the passivity theorem are used to show the closed-loop input/output stability which is then related to the internal state space stability through an observability condition. Applications of these results include fully actuated robots, flexible joint robots, and robots with link flexibility
Year
DOI
Venue
1991
10.1109/IROS.1991.174615
IROS
Keywords
Field
DocType
observability,state-space methods,flexible robots,robots,internal state space stability,observability condition,passivity theorem,nonlinear control systems,nonlinear hamiltonian systems,stability,position control,closed-loop input/output stability,closed loop systems,tracking control,asymptotic stability,input output,hamiltonian system,open loop systems,state space,force feedback,damping,mechanical systems,control systems,robot control
Passivity,Robot control,Observability,Control theory,Computer science,Hamiltonian system,Control engineering,Control system,Robot,Law,State space,Stability theory
Conference
Citations 
PageRank 
References 
0
0.34
2
Authors
2
Name
Order
Citations
PageRank
Leonardo Lanari14311.31
John T. Wen200.34