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

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 proceeding › Conference contribution › peer-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 language	English
Title of host publication	Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002
Pages	1132-1137
Number of pages	6
State	Published - 1 Dec 2002
Event	Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002 - Singapore, Singapore Duration: 2 Dec 2002 → 5 Dec 2002

Publication series

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

Conference

Conference	Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002
Country/Territory	Singapore
City	Singapore
Period	2/12/02 → 5/12/02

ASJC Scopus subject areas

General Engineering

Cite this

Ailon, A., Berman, N., Greenberg, B., Ahn, B. H., Arogeti, S., & Choi, E. S. (2002). Robot Set-Point Control and Spacecraft Attiude Regulation: Some Useful Structural Properties and New Results. In Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002 (pp. 1132-1137). (Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002).

Ailon, A. ; Berman, N. ; Greenberg, B. et al. / Robot Set-Point Control and Spacecraft Attiude Regulation : Some Useful Structural Properties and New Results. Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002. 2002. pp. 1132-1137 (Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002).

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

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.",

author = "A. Ailon and N. Berman and B. Greenberg and Ahn, {B. H.} and S. Arogeti and Choi, {E. S.}",

year = "2002",

month = dec,

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series = "Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002",

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booktitle = "Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002",

note = "Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002 ; Conference date: 02-12-2002 Through 05-12-2002",

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Ailon, A, Berman, N, Greenberg, B, Ahn, BH, Arogeti, S & Choi, ES 2002, Robot Set-Point Control and Spacecraft Attiude Regulation: Some Useful Structural Properties and New Results. in Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002. Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002, pp. 1132-1137, Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002, Singapore, Singapore, 2/12/02.

Robot Set-Point Control and Spacecraft Attiude Regulation: Some Useful Structural Properties and New Results. / Ailon, A.; Berman, N.; Greenberg, B. et al.
Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002. 2002. p. 1132-1137 (Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Ailon A, Berman N, Greenberg B, Ahn BH, Arogeti S, Choi ES. Robot Set-Point Control and Spacecraft Attiude Regulation: Some Useful Structural Properties and New Results. In Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002. 2002. p. 1132-1137. (Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002).

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

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