Input-to-state stability of PD-controlled robotic systems

被引：91

作者：

Angeli, D ^{[1
]}

机构：

[1] Univ Florence, Dipartimento Sistemi & Informat, I-50139 Florence, Italy

来源：

AUTOMATICA | 1999年 / 35卷 / 07期

关键词：

stability properties; Lyapunov methods; PD controllers; robotics;

D O I：

10.1016/S0005-1098(99)00037-0

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A sufficient condition for input-to-state stability is presented for systems admitting a Lyapunov function with negative semi-definite derivative. An application to PD-controlled robotic manipulators is also described. (C) 1999 Elsevier Science Ltd. All rights reserved.

引用

页码：1285 / 1290

页数：6

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