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.
1992
01 Pubblicazione su rivista::01a Articolo in rivista
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]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/443007
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