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Robust stability of second-order systems (Document No: 19940033079)
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Chuang, C.-H. |
| Copyright Year | 1994 |
| Description | This progress report gives current progress of the research in nonlinear robust control using positive real concept. The progress is documented in a draft paper. In the paper, the manipulator dynamics is reformulated differently from the existing equations of motion for free base robots. This new formulation gives a compact form of the dynamic equations for easy computation. The nonlinear terms are now considered. The results show that for an additional nonlinear friction term, the feedback controller designed using passivity concept works quite well. Although design of such a controller requires simulation of the dynamics for the example shown in the following draft, this design procedure is feasible. |
| File Size | 671442 |
| Page Count | 23 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19940033079 |
| Archival Resource Key | ark:/13960/t4sj6df0m |
| Language | English |
| Publisher Date | 1994-08-19 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics Controllers Nonlinear Feedback Robustness Mathematics Friction Robot Control Control Systems Design Manipulators Control Stability Feedback Control Robot Dynamics Equations of Motion Robots 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 |
