• DocumentCode
    700518
  • 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
  • fYear
    1997
  • fDate
    1-7 July 1997
  • Firstpage
    525
  • Lastpage
    530
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Conference (ECC), 1997 European
  • Conference_Location
    Brussels
  • Print_ISBN
    978-3-9524269-0-6
  • Type

    conf

  • Filename
    7082148
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=700518