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Robust stability of second-order systems
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Chuang, C.-H. |
| Copyright Year | 1994 |
| Description | Nonlinear control using feedback linearization or inverse dynamics for robotic manipulators yields good results in the absence of modeling uncertainty. However, modeling uncertainties due to unknown joint friction coefficients and payload variations can give rise to undesirable characteristics when these control systems are implemented. It is shown how passivity concepts can be used to supplement the feedback linearization control design technique, in order to make it robust with respect to the uncertain effects mentioned above. Results are obtained for space manipulators with freely floating base; however, they are applicable to fixed base manipulators as well. The controller guarantees asymptotic tracking of the joint variables. Closed-loop simulation results are illustrated for planar space manipulators for cases where uncertainty exists in friction modeling and payload inertial parameters. |
| File Size | 597940 |
| Page Count | 22 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19940020091 |
| Archival Resource Key | ark:/13960/t3fz26j92 |
| Language | English |
| Publisher Date | 1994-02-23 |
| Access Restriction | Open |
| Subject Keyword | Numerical Analysis Controllers Robot Arms Coefficient of Friction Simulation Control Systems Design Feedback Inverse Kinematics Manipulators Feedback Control Nonlinear Systems Sliding Friction 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 |
