Title :
Structural stable nonlinear control: some notes and a case study
Author :
Lucibello, Pasquale
Author_Institution :
Dipartimento di Sistemi, Calabria Univ., Cosenza, Italy
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;
Conference_Titel :
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-0450-0
DOI :
10.1109/CDC.1991.261651
