ASYMPTOTICALLY STABLE SET POINT CONTROL LAWS FOR FLEXIBLE ROBOTS

被引：24

作者：

LANARI, L

WEN, JT

机构：

[1] UNIV ROME LA SAPIENZA,DIPARTIMENTO INFORMAT & SISTEMIST,I-00185 ROME,ITALY

[2] RENSSELAER POLYTECH INST,NASA,CTR INTELLIGENT ROBOT SYST SPACE EXPLORAT,TROY,NY 12181

来源：

SYSTEMS & CONTROL LETTERS | 1992年 / 19卷 / 02期

关键词：

PASSIVITY; FLEXIBLE MANIPULATOR; FLEXIBLE BEAM; FLEXIBLE JOINT; LYAPUNOV ANALYSIS;

D O I：

10.1016/0167-6911(92)90095-A

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 general family of asymptotically stabilizing control laws is introduced for a class of nonlinear Hamiltonian systems. The inherent passivity property of this class of systems and 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.

引用

页码：119 / 129

页数：11

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