• DocumentCode
    1699788
  • Title

    Tracking of trajectories in the working space of a class of flexible manipulators: study of stability

  • Author

    Bigras, Pascal ; Saad, Maarouf ; O´Shea, James

  • Author_Institution
    Higher Technol. School, Montreal, Que., Canada
  • Volume
    1
  • fYear
    1995
  • Firstpage
    67
  • Abstract
    This article presents a control law which ensures the global asymptotic stability of the tracking error, and also a stability analysis based on the theorem of passivity and a semi-guardian application enabling the rate of convergence of the tracking error to be increased. A simulation is presented to validate the approach
  • Keywords
    asymptotic stability; convergence; manipulators; position control; control law; convergence; flexible manipulators; global asymptotic stability; passivity; semi-guardian application; simulation; stability; stability analysis; tracking error; trajectories tracking; working space; Deformable models; Helium;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Electrical and Computer Engineering, 1995. Canadian Conference on
  • Conference_Location
    Montreal, Que.
  • ISSN
    0840-7789
  • Print_ISBN
    0-7803-2766-7
  • Type

    conf

  • DOI
    10.1109/CCECE.1995.528075
  • Filename
    528075
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1699788