DocumentCode
3338861
Title
A family of asymptotically stable control laws for flexible robots based on a passivity approach
Author
Lanari, Leonardo ; Wen, John T.
Author_Institution
Dipartimento di Inf. e Sistemistica, Roma Univ., Italy
fYear
1991
fDate
19-22 June 1991
Firstpage
102
Abstract
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 flexibility.<>
Keywords
nonlinear control systems; robots; stability; asymptotically stable control laws; closed-loop input/output stability; detectability; flexible robots; fully actuated robots; internal state space stability; link flexibility; nonlinear Hamiltonian systems; passivity approach; passivity theorem; stabilizability; Control systems; Damping; Force feedback; Intelligent robots; Mechanical systems; Nonlinear control systems; Open loop systems; Orbital robotics; Output feedback; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location
Pisa, Italy
Print_ISBN
0-7803-0078-5
Type
conf
DOI
10.1109/ICAR.1991.240468
Filename
240468
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