Explicit Structured Singular Value Analysis of Manipulators with Passivity Based Control

DOI10.1007/978-3-540-73890-9_31zbMath1195.70013OpenAlexW2137481650MaRDI QIDQ5436789

Satoru Sakai, Kenji Fujimoto

Publication date: 17 January 2008

Published in: Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-540-73890-9_31

zbMATH Keywords

redundant manipulatorsHamilton's canonical equations

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Cites Work

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• L\(_2\) gain and passivity techniques in nonlinear control.
• Interconnection and damping assignment passivity-based control: a survey
• Stabilization of Hamiltonian systems
• Canonical transformation and stabilization of generalized Hamiltonian systems

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