Abstract:
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.
Reference:
L. Lanari, J.T. Wen (1992). Asymptotically Stable Set Point Control Laws for Flexible Robots.
System and Control Letters, 19, July–Aug, pp.119–129, 1992.
Publication Type:
Archival Journals