On global positional stabilization of a single-link manipulator with a nonlinear elastic joint

DOI10.1007/s10778-021-01108-zzbMath1521.70010OpenAlexW3217303585MaRDI QIDQ6050885

A. S. Khoroshun

Publication date: 12 October 2023

Published in: International Applied Mechanics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10778-021-01108-z

zbMATH Keywords

slow-fast systemlow-pass filterunderactuated mechanical systemdynamic surface controlsingle-link manipulatornonlinear elastic joint

Mathematics Subject Classification ID

Asymptotic stability in control theory (93D20) Robot dynamics and control of rigid bodies (70E60) Stabilization of solutions to ordinary differential equations (34H15)

Cites Work

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• Dynamic surface control of uncertain nonlinear systems. An LMI approach
• Stabilization of the upper equilibrium position of a pendulum by spinning an inertial flywheel
• Dynamic surface control for a class of nonlinear systems
• Redesign of robust controllers for rigid-link flexible-joint robotic manipulators actuated with harmonic drive gearing

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