Asymptotically stable set point control laws for flexible robots
作者： Leonardo Lanari , John T. Wen
DOI: 10.1016/0167-6911(92)90095-A
关键词: Nonlinear system 、 Robot 、 Artificial intelligence 、 Law 、 Control theory 、 State space 、 Mathematics 、 Observability 、 Hamiltonian system 、 Passivity 、 Robotics 、 Stability theory
摘要: Abstract A general family of asymptotically stabilizing control laws is introduced for a class nonlinear Hamiltonian systems. The inherent passivity property this systems and the Passivity Theorem are used to show closed loop input/output stability which then related internal state space through an observability condition. Applications these results include fully actuated robots, flexible-joint robots with link flexibility.
elsevier.com
acm.org 
sci-hub.se 参考文章(16)
F Miyazaki, S Arimoto, S Kawamura, H Kanoh, Stability Analysis of a One-Link Flexible Arm Control by a Linear Feedback Law 立命舘大学理工学研究所紀要. ,vol. 46, pp. 163- ,(1987)
Brad Paden, Brad Riedle, A Positive-Real Modification of a Class of Nonlinear Controllers for Robot Manipulators american control conference. pp. 1782- 1785 ,(1988) , 10.23919/ACC.1988.4790015
M. W. Spong, Modeling and Control of Elastic Joint Robots Journal of Dynamic Systems Measurement and Control-transactions of The Asme. ,vol. 109, pp. 310- 319 ,(1987) , 10.1115/1.3143860
Charles A. Desoer, M. Vidyasagar, Feedback Systems: Input-output Properties ,(1975)
Morikazu Takegaki, Suguru Arimoto, A new feedback method for dynamic control of manipulators Journal of Dynamic Systems Measurement and Control-transactions of The Asme. ,vol. 103, pp. 119- 125 ,(1981) , 10.1115/1.3139651
L. Lanari, J.T. Wen, A family of asymptotically stable control laws for flexible robots based on a passivity approach international conference on advanced robotics robots in unstructured environments. pp. 102- 107 ,(1991) , 10.1109/ICAR.1991.240468
J.T. Wen, Time domain and frequency domain conditions for strict positive realness IEEE Transactions on Automatic Control. ,vol. 33, pp. 988- 992 ,(1988) , 10.1109/9.7263
C.I. Byrnes, A. Isidori, J.C. Willems, Stabilization and output regulation of nonlinear systems in the large conference on decision and control. pp. 1255- 1261 ,(1990) , 10.1109/CDC.1990.203810
D. Hill, P. Moylan, The stability of nonlinear dissipative systems IEEE Transactions on Automatic Control. ,vol. 21, pp. 708- 711 ,(1976) , 10.1109/TAC.1976.1101352
M. Spong, K. Khorasani, P. Kokotovic, An integral manifold approach to the feedback control of flexible joint robots international conference on robotics and automation. ,vol. 3, pp. 291- 300 ,(1987) , 10.1109/JRA.1987.1087102