Feedback linearization of differential-algebraic systems and force and position control of manipulators

DOI10.1007/BF01968538zbMath0781.93066OpenAlexW2021738630MaRDI QIDQ687211

Woosoon Yim, Sahjendra N. Singh

Publication date: 1 November 1993

Published in: Dynamics and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/bf01968538

zbMATH Keywords

closed-loop systemdifferential-algebraic systemssimulation results

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (3)

Sliding mode force, motion control, and stabilization of elastic manipulator in the presence of uncertainties ⋮ Robust adaptive control of strict-feedback nonlinear systems with unmodelled dynamics and time-varying delays ⋮ Stabilization of non-linear differential-algebraic equation systems

Cites Work

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• Feedback stabilization of control systems described by a class of nonlinear differential-algebraic equations
• Adaptive control of linearizable systems
• Numerical Solution of Nonlinear Differential Equations with Algebraic Constraints II: Practical Implications
• Feedback stabilization and tracking of constrained robots
• Invertibility of multivariable nonlinear control systems
• A modified algorithm for invertibility in nonlinear systems
• Computation of state realizations for control systems described by a class of linear differential-algebraic equations

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