DocumentCode
490635
Title
A Passivity/Lyapunov Approach for the Control of Flexible Joint Manipulators
Author
Lanari, Leonardo ; Sicard, Pierre ; Wen, John T.
Author_Institution
Dip. di Informatica e Sistemistica, UniversitÃ\xa0 di Roma "La Sapienza", Via Eudossiana 18, 00184 Roma, I
fYear
1993
fDate
2-4 June 1993
Firstpage
2887
Lastpage
2891
Abstract
A passivity and Lyapunov based approach for the control design is presented for the trajectory tracking problem of flexible joint robots. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. Feedforward selection is analyzed and passivity theory is used to design a motor state-based controller in order to input-output stabilize the error system generated by the feedforward. Observability conditions for asymptotic stability are stated and verified, and global convergence is obtained.
Keywords
Asymptotic stability; Control design; Control systems; Convergence; Error correction; Feedback; Manipulators; Observability; Robots; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1993
Conference_Location
San Francisco, CA, USA
Print_ISBN
0-7803-0860-3
Type
conf
Filename
4793426
Link To Document