Stabilization of Lagrangian system with elastic elements under the restrictions on control with and without velocity measurements

Prikladnaya Matematika i Mekhanika

Volumn 61, Issue 3, 1997, Pages 447-456

  Burkov, I V ^a   Freidovich, L B ^a  

^a NONE

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL; EQUATIONS OF MOTION; INDUSTRIAL ROBOTS; LYAPUNOV METHODS; MANIPULATORS; STABILITY; STABILIZATION; THEOREM PROVING;

BARBASHIN-KRASOVSKIJ THEOREM; ELASTIC JOINTS;

DYNAMICS;

EID: 0031147510     PISSN: 00328235     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Article

References (9)

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3. Tomei P. A simple PD controller for robots with elastic joints // IEEE Trans. Automat, and Contr. 1991. V. 36. N 10. P. 1208-1213.
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7. Burkov I.V. Asymptotic stabilization of nonlinear Lagrangian systems without measuring velocities // Active Control in Mechanical Engineering. Proc. Int. Symp. (Lyon, France, 1993). Lyon: Association MV2. V. 2. Reprinted by Hermes, Paris. 1995. P. 440-448. Ed.: L. Jézéquel.
8. Kelly R.. Onega R., Ailon, A., Loria A. Global regulation of flexible joints robots using approximate differentiation// IEEE Trans, Automat, and Contr. 1994. V. 39. N 6. P. 1222-1224.
9. Burkov I.V. Stabilization of mechanical systems via bounded control and without velocity measurement //2nd Russian-Swedish Control Conf. (St. Petersburg, Russia, Aug. 29-31,1995). St. Petersburg: St. Petersburg Technical Univ. P. 37-41.