Title :
On I/O and Lyapunov stability in robot models with state and output contrllers
Author :
Ailon, A. ; Gil, M. ; Choi, E.-S.
Author_Institution :
Dept. of Mechatron., Kwangju Inst. of Sci. & Technol., Kwangju, South Korea
Abstract :
This paper considers some control aspects associated with the synthesis of simple output controllers (with constant feedforwards) in set-point regulation tasks of n-degrees of freedom rigid and flexible-joint robots. We show that global asymptotic stability of the systems under consideration implies local exponential stability, and hence a small-signal Lp stability.
Keywords :
Lyapunov methods; asymptotic stability; feedforward; flexible manipulators; I/O stability; Lyapunov stability; constant feedforward; control aspect; exponential stability; flexible-joint robot; global asymptotic stability; n-degrees of freedom; output controller; rigid robot; robot model; set-point regulation task; small-signal Lp stability; state controller; Asymptotic stability; Control theory; Lyapunov methods; Mathematical model; Output feedback; Robots; Stability; Lp stability; Lyapunov stability; Output-feedback;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
