PASSIVE CONTROL OF A STIFF FLEXIBLE LINK

被引：55

作者：

WANG, D ^{[1
]}

VIDYASAGAR, M ^{[1
]}

机构：

[1] CTR ARTIFICIAL INTELLIGENCE & ROBOT,BANGALORE,INDIA

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1992年 / 11卷 / 06期

关键词：

D O I：

10.1177/027836499201100606

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

It is demonstrated in the article that, for an appropriately chosen output variable, the transfer function for a sufficiently rigid single flexible link is passive. As such, by the passivity theorem, using any strictly passive controller with finite gain will result in an L2-stable system. One approach to designing such a controller is outlined, and the experimental results are presented The implications of this work are examined, and future research issues are discussed.

引用

页码：572 / 578

页数：7

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