A general family of asymptotically stabilizing control laws is introduced for a class of nonlinear Hamiltonian systems. The inherent passivity property of this class of systems and the passivity theorem are used to show the closed-loop input/output stability which is then related to the internal state space stability through the stabilizability and detectability condition. Applications of these results include fully actuated robots, flexible-joint robots, and robots with link flexibility.
A family of asymptotically stable control laws for flexible robots based on a passivity approach / Lanari, Leonardo; J. T., Wen. - (1991), pp. 102-107 vol.1. (Intervento presentato al convegno Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments tenutosi a Pisa, Italy) [10.1109/icar.1991.240468].
A family of asymptotically stable control laws for flexible robots based on a passivity approach
LANARI, Leonardo;
1991
Abstract
A general family of asymptotically stabilizing control laws is introduced for a class of nonlinear Hamiltonian systems. The inherent passivity property of this class of systems and the passivity theorem are used to show the closed-loop input/output stability which is then related to the internal state space stability through the stabilizability and detectability condition. Applications of these results include fully actuated robots, flexible-joint robots, and robots with link flexibility.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
