DocumentCode
1743700
Title
A projector to design a passive-based feedback
Author
Boutat, Driss ; Djemai, M. ; Barbot, J.-P.
Author_Institution
LVR, Orleans Univ., France
Volume
4
fYear
2000
fDate
2000
Firstpage
3881
Abstract
This paper deals with the decomposition of the drift term of nonlinear multivariable regular systems. A transverse and tangent decomposition of the vector field is first presented, then a feedback neutralizing the transverse part is studied. Zero dynamics stability is considered and sufficient conditions to obtain a global passivity of the system are given. Other decompositions based on the workless field, attracting field, and rejecting field are also studied. Some illustrative examples are given
Keywords
control system synthesis; feedback; multivariable systems; nonlinear systems; stability; decomposition; global passivity; multivariable systems; nonlinear systems; passive-based feedback; stability; sufficient condition; Control design; Control system analysis; Energy loss; Feedback; MIMO; Mechanical systems; Nonlinear dynamical systems; Robots; Stability; Sufficient conditions;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location
Sydney, NSW
ISSN
0191-2216
Print_ISBN
0-7803-6638-7
Type
conf
DOI
10.1109/CDC.2000.912318
Filename
912318
Link To Document