DocumentCode
938333
Title
Inversion of nonlinear time-varying systems
Author
Benedetto, M. D Di ; Lucibello, P.
Author_Institution
Dipartimento di Inf. e Sistemistica, Roma Univ., Italy
Volume
38
Issue
8
fYear
1993
fDate
8/1/1993 12:00:00 AM
Firstpage
1259
Lastpage
1264
Abstract
A procedure for inverting nonlinear systems that presents some computational advantages when applied to flexible robot arms or, more generally, to mechanical structures, is given. The procedure is presented in a general setting, for nonlinear time-varying systems. An iterative algorithm that computes a smooth controlled invariant time-varying manifold, the mathematical properties of which are illustrated and exploited, is also proposed. An application to a flexible two-link manipulator illustrates the algorithm and its computational advantages
Keywords
iterative methods; manipulators; nonlinear control systems; time-varying systems; flexible robot arms; flexible two-link manipulator; inversion; iterative algorithm; mechanical structures; nonlinear time-varying systems; smooth controlled invariant time-varying manifold; Adaptive control; Adaptive systems; Automatic control; Control systems; Programmable control; Robust control; Robust stability; Time factors; Time varying systems; Trajectory;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.233163
Filename
233163
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