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 an observability condition. Applications of these results include fully actuated robots, flexible-joint robots, and robots with link flexibility.
Asymptotically stable set point control laws for flexible robots / Lanari, Leonardo; John T., Wen. - In: SYSTEMS & CONTROL LETTERS. - ISSN 0167-6911. - 19:(1992), pp. 119-129. [10.1016/0167-6911(92)90095-A]
Asymptotically stable set point control laws for flexible robots
LANARI, Leonardo;
1992
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 an observability 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.
