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Robust stability of second-order systems (Document No: 19930023184)
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Chuang, C.-H. |
| Copyright Year | 1993 |
| Description | A feedback linearization technique is used in conjunction with passivity concepts to design robust controllers for space robots. It is assumed that bounded modeling uncertainties exist in the inertia matrix and the vector representing the coriolis, centripetal, and friction forces. Under these assumptions, the controller guarantees asymptotic tracking of the joint variables. A Lagrangian approach is used to develop a dynamic model for space robots. Closed-loop simulation results are illustrated for a simple case of a single link planar manipulator with freely floating base. |
| File Size | 525082 |
| Page Count | 18 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19930023184 |
| Archival Resource Key | ark:/13960/t6j14zr35 |
| Language | English |
| Publisher Date | 1993-08-19 |
| Access Restriction | Open |
| Subject Keyword | Numerical Analysis Controllers Control Simulation Manipulators Feedback Control Feedback Vectors Mathematics Dynamic Models Control Stability Inertia Lagrangian Function Coriolis Effect Centripetal Force Matrices Mathematics Robots Linearization Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Technical Report |