DocumentCode
3476465
Title
Structural stable nonlinear control: some notes and a case study
Author
Lucibello, Pasquale
Author_Institution
Dipartimento di Sistemi, Calabria Univ., Cosenza, Italy
fYear
1991
fDate
11-13 Dec 1991
Firstpage
1497
Abstract
Some remarks are made concerning structural stable nonlinear control. A case study involving a two-link robot with a flexible forearm is presented. A hierarchical control law which exponentially stabilizes the system can be computed by neglecting nonlinear coupling. The block diagram of the controller is reported. The simulated output errors are plotted, and the asymptotic system inversion is illustrated
Keywords
distributed parameter systems; hierarchical systems; large-scale systems; nonlinear control systems; robots; stability; 2-link robot; block diagram; flexible forearm; structural stable nonlinear control; two-link robot; Computational modeling; Computer aided software engineering; Constraint theory; Control systems; Couplings; Differential equations; Linear systems; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Regulators; Robots; Stability; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location
Brighton
Print_ISBN
0-7803-0450-0
Type
conf
DOI
10.1109/CDC.1991.261651
Filename
261651
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