Feedback linearization of a flexible manipulator near its rigid body manifold

DOI10.1016/0167-6911(85)90039-8zbMath0568.93036OpenAlexW2070865178MaRDI QIDQ1061065

Petar V. Kokotovic, Khashayar Khorasani

Publication date: 1985

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0167-6911(85)90039-8

zbMATH Keywords

feedback control lawapproximate linearizationslow manifoldflexible robotic manipulators

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Free motion of a rigid body (70E15) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Singular perturbations for ordinary differential equations (34E15)

Related Items (6)

An optimal feedback regulation of nonlinear singularly perturbed systems via slow manifold approach ⋮ Design of global tracking controllers for flexible‐joint robots ⋮ Composite control of non-linear singularly perturbed systems: meeting a design objective ⋮ Robust stabilization of non-linear systems with unmodelled dynamics ⋮ Composite adaptive control of flexible joint robots ⋮ A slow manifold approach to linear equivalents of nonlinear singularly perturbed systems

Cites Work

• Unnamed Item
• Integral manifolds and decomposition of singularly perturbed systems
• Geometric singular perturbation theory for ordinary differential equations
• On the linear equivalents of nonlinear systems
• Recent trends in feedback design: An overview
• Global transformations of nonlinear systems
• Properties of solutions of ordinary differential equations with small parameters

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