Title :
Analysis of energy shaping based controllers for elastic joint robots via passivity theory
Author :
Santibáñez, Victor ; Kelly, Rafael
Author_Institution :
Inst. Technol. de la Laguna, Mexico
Abstract :
This paper deals with the application of passivity theory to analyze the asymptotic stability of output feedback regulators for elastic joint robots paying attention to energy shaping based controllers. To this end we use a theorem which is an adaptation, for asymptotic stability purposes, of a passivity theorem given by Khalil (1996) and Canudas de Wit et al. (1996). This theorem is based on the works of Willems (1972) and Hill and Moylan (1977)
Keywords :
asymptotic stability; closed loop systems; eigenvalues and eigenfunctions; feedback; flexible structures; manipulator dynamics; observability; state-space methods; asymptotic stability; closed loop systems; eigenvalues; elastic joint robots; energy shaping; observability; output feedback; passivity theory; state space method; Asymptotic stability; Damping; Feedback; Manipulators; Potential energy; Regulators; Robot control; Shape control; Torque control; Velocity control;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.657646
