Robot Set-Point Control and Spacecraft Attiude Regulation: Some Useful Structural Properties and New Results

A. Ailon, N. Berman, B. Greenberg, B. H. Ahn, S. Arogeti, E. S. Choi

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

1 Scopus citations

Abstract

This paper reveals some new structural properties of a rigid robot with state and output-based controllers. Applications of these properties allow one to design a controller that ensures both, global asymptotic stability of the nonlinear system and eigenvalues assignment of the resulting linear approximation within the stable region of the complex plane. Hence, required global and local control objectives can be attained. Applications of the results to spacecraft attitude control are demonstrated.

Original languageEnglish
Title of host publicationProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002
Pages1132-1137
Number of pages6
StatePublished - 1 Dec 2002
EventProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002 - Singapore, Singapore
Duration: 2 Dec 20025 Dec 2002

Publication series

NameProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002

Conference

ConferenceProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002
Country/TerritorySingapore
CitySingapore
Period2/12/025/12/02

ASJC Scopus subject areas

  • Engineering (all)

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