DocumentCode
321277
Title
Analysis of energy shaping based controllers for elastic joint robots via passivity theory
Author
Santibáñez, Victor ; Kelly, Rafael
Author_Institution
Inst. Technol. de la Laguna, Mexico
Volume
2
fYear
1997
fDate
10-12 Dec 1997
Firstpage
1347
Abstract
This paper deals with the application of passivity theory to analyze the asymptotic stability of output feedback regulators for elastic joint robots paying attention to energy shaping based controllers. To this end we use a theorem which is an adaptation, for asymptotic stability purposes, of a passivity theorem given by Khalil (1996) and Canudas de Wit et al. (1996). This theorem is based on the works of Willems (1972) and Hill and Moylan (1977)
Keywords
asymptotic stability; closed loop systems; eigenvalues and eigenfunctions; feedback; flexible structures; manipulator dynamics; observability; state-space methods; asymptotic stability; closed loop systems; eigenvalues; elastic joint robots; energy shaping; observability; output feedback; passivity theory; state space method; Asymptotic stability; Damping; Feedback; Manipulators; Potential energy; Regulators; Robot control; Shape control; Torque control; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location
San Diego, CA
ISSN
0191-2216
Print_ISBN
0-7803-4187-2
Type
conf
DOI
10.1109/CDC.1997.657646
Filename
657646
Link To Document