Putting Physics in Control-The Example of Robotics

IEEE Control Systems Magazine

Volumn 8, Issue 6, 1988, Pages 12-18

  Slotine, Jean Jacques E ^a  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEMS, MULTIVARIABLE; CONTROL, MECHANICAL VARIABLES--POSITION; MECHANICS; ROBOTICS; ROBOTS, INDUSTRIAL--MANIPULATORS;

ADAPTIVE TRAJECTORY CONTROL; DISSIPATIVE DYNAMICS; MECHANICAL ENERGY CONSERVATION; NONLINEAR DYNAMICS; PD POSITION CONTROLLERS;

CONTROL SYSTEMS, NONLINEAR;

EID: 0024124302     PISSN: 02721708     EISSN: None     Source Type: Journal    
DOI: 10.1109/37.9164     Document Type: Article

References (23)

1. J. J. E. Slotine, “Sliding Controller Design for Nonlinear Systems,” Int. J. Contr., vol. 40, no. 2, 1984.
2. A. M. Lyapunov, “Probleme General de la Stabilite du Mouvement,” Ann. Fac. Sci. Toulouse, vol. 9, 1907.
3. J. J. E. Slotine and W. Li, “On the Adaptive Control of Robot Manipulators,” ASME Winter Annual Meeting, Anaheim, CA, 1986.
4. J. J. E. Slotine and W. Li, “Adaptive Manipulator Control: A Case Study,” IEEE Int. Conf. Robotics and Automation, Raleigh, NC, 1987.
5. H. Asada and J. J. E. Slotine, Robot Analysis and Control, John Wiley & Sons, 1986.
6. W. Thomson and P. Tait, Treatise on Natural Philosophy, University of Cambridge Press, 1886.
7. M. Takegaki and S. Arimoto, “A New Feedback Method for Dynamic Control of Manipulators,” ASME J. Dyn. Syst., Meas., Contr., vol. 102, 1981.
8. D. Koditschek, “Natural Motion of Robot Arms,” IEEE Conf. Decision and Control, Las Vegas, NV, 1984.
9. A. J. Van der Schaft, “Stabilization of Hamiltonian Systems,” Nonl. An. The. Meth. Appl., vol. 10, 1986.
10. N. Hogan, “Impedance Control: An Approach to Manipulation,” ASME J. Dyn. Syst., Meas., Contr., vol. 107, 1985.
11. N. Hogan, “Control Strategies from Computed Movements Derived from Physical Systems Theory,” Int. Symp. Synergetics, Bavaria, 1985.
12. J. K. Salisbury, “Active Stiffness Control of a Manipulator in Cartesian Coordinates,” IEEE Conf. Decision and Control, Albuquerque, NM, 1980.
13. J. La Salle and S. Lefschetz, Stability by Lyapunov's Direct Method, Academic Press, 1961.
14. J. J. E. Slotine and W. Li, “On the Adaptive Control of Robot Manipulators.” Int. J. Robotics Res., vol. 6, no. 3, 1987.
15. C. G. Atkeson, C. G. An, and J. M. Hollerbach, Int. Symp. Robotics Res., Gouvieux, 1985.
16. P. Khosla and T. Kanade, “Parameter Identification of Robot Dynamics,” IEEE Conf. Decision and Control, Fort Lauderdale, FL, 1985.
17. J. J. E. Slotine and W. Li, “Theoretical Issues in Adaptive Manipulator Control,” Fifth Yale Workshop on Applications of Adaptive Systems Theory, Yale University, 1987.
18. A. P. Morgan and K. S. Narendra, “On the Uniform Asymptotic Stability of Certain Linear Non-Autonomous Differential Equations,” SIAM J. Contr. Optim., vol. 15, 1977.
19. J. J. E. Slotine and W. Li, “Adaptive Control of Robot Manipulators,” submitted to Automatica, Feb. 1988.
20. H. Kwakemaak and R. Sivan, Linear Optimal Control Systems, John Wiley & Sons, 1972.
21. J. N. Aubrun, K. Lorell, T. S. Mast, and J. E. Nelson, “Dynamic Analysis of the Actively Controlled Segmented Mirror of the W. M. Keck Ten-meter Telescope,” IEEE Contr. Syst. Mag., vol. 7, no. 6, 1987.
22. J. J. E. Slotine and M. D. Di Benedetto, “Hamiltonian Adaptive Control of Spacecrafts,” Report MIT/NSL-880301, 1988.
23. P. Glansdorff and I. Prigogine, Thermodynamics of Structure, Stability, and Fluctuation, John Wiley & Sons, 1971.