Asymptotically stable set point control laws for flexible robots

DOI10.1016/0167-6911(92)90095-AzbMath0765.93056OpenAlexW2033199574WikidataQ62586061 ScholiaQ62586061MaRDI QIDQ1199083

Leonardo Lanari, John Ting-Yung Wen

Publication date: 16 January 1993

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

Full work available at URL: https://doi.org/10.1016/0167-6911(92)90095-a

zbMATH Keywords

nonlinear Hamiltonian systemspassivity theoremclosed loop input/output stability

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

Related Items

Global tracking controllers for flexible-joint manipulators: A comparative study ⋮ On the role of passivity and output injection in the output feedback stabilisation problem: Application to robot control ⋮ Global set point control via link position measurement for flexible joint robots

Cites Work

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• Implications of passivity in a class of nonlinear systems