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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Lanari, L. Wen, J.T. |
| Copyright Year | 1991 |
| Description | Author affiliation: Dipartimento di Inf. e Sistemistica, Roma Univ., Italy (Lanari, L.) |
| Abstract | A family of asymptotically stabilizing tracking control laws was introduced by the author (1991) for a class of nonlinear Hamiltonian systems. These control laws all have the structure of a sum of a feedback design based on the passivity consideration and a feedforward obtained via a procedure that is closely related to plant inversion. In this paper calculation of the feedforward is considered in detail for both flexible joint robots and a single planar flexible link. The latter also leads to a general result relating inverse dynamics to model reference control in the case of linear systems.< |
| Starting Page | 1403 |
| Ending Page | 1408 |
| File Size | 409019 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780304500 |
| DOI | 10.1109/CDC.1991.261630 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1991-12-11 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robot control Feedback Damping Inverse problems Nonlinear control systems Open loop systems Systems engineering and theory Linear systems Nonlinear equations Torque control |
| Content Type | Text |
| Resource Type | Article |
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