On I/O and lyapunov stability in robot models with state and output contrllers

A. Ailon, M. Gil, E. S. Choi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper considers some control aspects associated with the synthesis of simple output controllers (with constant feedforwards) in set-point regulation tasks of n-degrees of freedom rigid and flexible-joint robots. We show that global asymptotic stability of the systems under consideration implies local exponential stability, and hence a small-signal Lp stability.

Original languageEnglish
Title of host publicationECC 1997 - European Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages525-530
Number of pages6
ISBN (Electronic)9783952426906
DOIs
StatePublished - 8 Apr 1997
Event4th European Control Conference, ECC 1997 - Brussels, Belgium
Duration: 1 Jul 19974 Jul 1997

Publication series

NameECC 1997 - European Control Conference

Conference

Conference4th European Control Conference, ECC 1997
Country/TerritoryBelgium
CityBrussels
Period1/07/974/07/97

Keywords

  • L stability
  • Lyapunov stability
  • Output-feedback

ASJC Scopus subject areas

  • Control and Systems Engineering

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