Title :
Tracking of trajectories in the working space of a class of flexible manipulators: study of stability
Author :
Bigras, Pascal ; Saad, Maarouf ; O´Shea, James
Author_Institution :
Higher Technol. School, Montreal, Que., Canada
Abstract :
This article presents a control law which ensures the global asymptotic stability of the tracking error, and also a stability analysis based on the theorem of passivity and a semi-guardian application enabling the rate of convergence of the tracking error to be increased. A simulation is presented to validate the approach
Keywords :
asymptotic stability; convergence; manipulators; position control; control law; convergence; flexible manipulators; global asymptotic stability; passivity; semi-guardian application; simulation; stability; stability analysis; tracking error; trajectories tracking; working space; Deformable models; Helium;
Conference_Titel :
Electrical and Computer Engineering, 1995. Canadian Conference on
Conference_Location :
Montreal, Que.
Print_ISBN :
0-7803-2766-7
DOI :
10.1109/CCECE.1995.528075
