Estimation and regulation of the rate of convergence of a rigid robot to a set-point with applications to spacecraft attitude control.

DOI10.1016/S1468-1218(02)00068-8zbMath1116.93040MaRDI QIDQ1874244

Michael I. Gil', Amit Ailon, Rogelio Lozano

Publication date: 22 May 2003

Published in: Nonlinear Analysis. Real World Applications (Search for Journal in Brave)

zbMATH Keywords

stabilityrate of convergencesolution estimatePD controllerrobot manipulatorattitude controlrigid spacecraft

Mathematics Subject Classification ID

Application models in control theory (93C95) Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60) Orbital mechanics (70M20)

Cites Work

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• Estimates of flexible-joint robot model response times and some control applications
• Global regulation of robots using only position measurements
• An observer-based set-point controller for robot manipulators with flexible joints
• Spacecraft attitude control and stabilization: Applications of geometric control theory to rigid body models
• Hamiltonian adaptive control of spacecraft
• New class of control laws for robotic manipulators Part 1. Non–adaptive case
• A New Feedback Method for Dynamic Control of Manipulators
• The attitude control problem
• Global regulation of flexible joint robots using approximate differentiation

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