Stabilization of the position of a Lagrangian system with elastic elements and bounded control, with and without measurement of velocities
1997 (English)In: PMM: Journal of applied mathematics and mechanics, ISSN 0021-8928, Vol. 61, no 3, 433-441 p.Article in journal (Refereed) Published
It is required to position a Lagrangian system whose free and controllable degrees of freedom are elastically linked. The equations of motion of such systems describe, in particular, the dynamics of a robot manipulator with elastic joints. The proposed control laws enable restrictions on the value of the control impulse to be taken into account. Zn particular, attention is given to the situation in which the velocities are not accessible to measurement. The analysis of the proposed control laws is based on Lyapunov’s direct method or, more specifically, on the Barbashin-Krasovskii theorem on asymptotic stability in the large. The proof uses an original method to verify that an auxiliary non-linear function, analogous to the total mechanical energy of a system, closed by a control law, is positive-definite. (C) 1997 Elsevier Science Ltd. All rights reserved.
Place, publisher, year, edition, pages
Elsevier , 1997. Vol. 61, no 3, 433-441 p.
IdentifiersURN: urn:nbn:se:umu:diva-37723DOI: 10.1016/S0021-8928(97)00055-5ISI: A1997YF57400012OAI: oai:DiVA.org:umu-37723DiVA: diva2:369707