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Robust control of nonlinear mechanical systems using linear feedback
St. Petersburg State Polytechnical University.
St. Petersburg State Polytechnical University.
St. Petersburg State Polytechnical University.ORCID iD: 0000-0003-0730-9441
1999 (English)In: Automation and remote control, ISSN 0005-1179, E-ISSN 1608-3032, Vol. 60, no 11, 1577-1586 p.Article in journal (Refereed) Published
Abstract [en]

A linear law of control of a mechanical system through drives nonrigidly connected to the system is suggested. The law involves measurement of the positions of links and angular velocities of drives and features a nonminimal-phase character of the transfer function. Stability conditions that remain valid with an increase in the gain are set zip. Results of the numerical modeling in solving problems of positioning anal tracking for robots (manipulators) are described.

Place, publisher, year, edition, pages
NEW YORK, NY, USA, 1999. Vol. 60, no 11, 1577-1586 p.
National Category
Physical Sciences
Identifiers
URN: urn:nbn:se:umu:diva-37719ISI: 000086224000007OAI: oai:DiVA.org:umu-37719DiVA: diva2:369712
Available from: 2010-11-11 Created: 2010-11-11 Last updated: 2017-12-12Bibliographically approved

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Freidovich, Leonid B.
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CiteExportLink to record
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