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A Family Of Asymptotically Stable Control Laws For Flexible Robots Based On A Passivity Approach by Leonardo Lanari
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1NASA Technical Reports Server (NTRS) 19930012165: A Family Of Asymptotically Stable Control Laws For Flexible Robots Based On A Passivity Approach
By NASA Technical Reports Server (NTRS)
A general family of asymptotically stabilizing control laws is introduced for a class of nonlinear Hamiltonian systems. The inherent passivity property of this class of systems and the Passivity Theorem are used to show the closed-loop input/output stability which is then related to the internal state space stability through the stabilizability and detectability condition. Applications of these results include fully actuated robots, flexible joint robots, and robots with link flexibility.
“NASA Technical Reports Server (NTRS) 19930012165: A Family Of Asymptotically Stable Control Laws For Flexible Robots Based On A Passivity Approach” Metadata:
- Title: ➤ NASA Technical Reports Server (NTRS) 19930012165: A Family Of Asymptotically Stable Control Laws For Flexible Robots Based On A Passivity Approach
- Author: ➤ NASA Technical Reports Server (NTRS)
- Language: English
“NASA Technical Reports Server (NTRS) 19930012165: A Family Of Asymptotically Stable Control Laws For Flexible Robots Based On A Passivity Approach” Subjects and Themes:
- Subjects: ➤ NASA Technical Reports Server (NTRS) - ASYMPTOTIC PROPERTIES - CONTROL STABILITY - CONTROL SYSTEMS DESIGN - CONTROL THEORY - NONLINEAR SYSTEMS - ROBOT CONTROL - ADAPTIVE CONTROL - FEEDBACK CONTROL - ROBOTS - THEOREMS - Lanari, Leonardo - Wen, John T.
Edition Identifiers:
- Internet Archive ID: NASA_NTRS_Archive_19930012165
Downloads Information:
The book is available for download in "texts" format, the size of the file-s is: 41.22 Mbs, the file-s for this book were downloaded 47 times, the file-s went public at Tue Sep 27 2016.
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