A Family of Asymptotically Stable Control Laws for Flexible Robots Based on a Passivity Approach |
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| Author:
| Administration (NASA), National Aeronautics and Space |
| ISBN: | 978-1-7219-9936-1 |
| Publication Date: | Jun 2018 |
| Publisher: | CreateSpace Independent Publishing Platform
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| Book Format: | Paperback |
| List Price: | USD $17.99 |
Book Description:
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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 the stabilizability and detectability condition. Applications of these results include fully actuated robots, flexible joint robots, and robots with link...
More DescriptionA 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 the stabilizability and detectability condition. Applications of these results include fully actuated robots, flexible joint robots, and robots with link flexibility. Lanari, Leonardo and Wen, John T. Unspecified Center NSF MSS-89-10437; NAGW-1333; NAG9-462...