Title :
Modelling and control of an under-actuated closed kinematic chain
Author :
Menini, L. ; Tornambè, A. ; Zaccaria, L.
Author_Institution :
Dipt. Inf. Sistemi e Produzione, Rome Univ., Italy
fDate :
1/1/1998 12:00:00 AM
Abstract :
The aim of the paper is to control a closed kinematic chain, under the assumption that the chain is under-actuated and that only partial measurements of the state variables are available. A Lyapunov approach is used for the design of an asymptotically stabilising feedback control law, for such a law, an estimate of the region of attraction is computed
Keywords :
Lyapunov methods; asymptotic stability; feedback; manipulator kinematics; Lyapunov approach; asymptotically stabilising feedback control law; attraction region estimation; manipulators; under-actuated closed kinematic chain;
Journal_Title :
Control Theory and Applications, IEE Proceedings -
DOI :
10.1049/ip-cta:19981464
