Robust control of nonlinear mechanical systems using linear feedback
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
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.
IdentifiersURN: urn:nbn:se:umu:diva-37719ISI: 000086224000007OAI: oai:DiVA.org:umu-37719DiVA: diva2:369712