Title :
A family of asymptotically stable tracking control laws for flexible robots
Author :
Lanari, Leonardo ; Wen, John T.
Author_Institution :
Dipartimento di Inf. e Sistemistica, Roma Univ., Italy
Abstract :
A general family of asymptotically stabilizing tracking control laws is introduced for a class of nonlinear Hamiltonian systems. The inherent passivity property of this class of systems ad 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
Keywords :
closed loop systems; nonlinear control systems; observability; position control; robots; stability; state-space methods; closed-loop input/output stability; flexible robots; internal state space stability; nonlinear Hamiltonian systems; observability condition; passivity theorem; position control; tracking control; Control systems; Damping; Force feedback; Mechanical systems; Open loop systems; Orbital robotics; Output feedback; Robot control; Springs; Stability;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174615
