Asymptotically stable set point control laws for flexible robots
- 31 August 1992
- journal article
- Published by Elsevier BV in Systems & Control Letters
- Vol. 19 (2), 119-129
- https://doi.org/10.1016/0167-6911(92)90095-a
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 flexibilityKeywords
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