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
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;
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
DOI :
10.1109/ICAR.1991.240468
