A feedback controller for the stabilization of closed-loop systems is proposed which is based on the Liapunov stability criterion. A feedback control law is first generated for the linear portion of the system equation using linear control theory. A feedback control is then designed for the nonlinear portion of the system equation by making negative the time derivative of a positive definite Liapunov function.


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    Titel :

    Lyapunov-based control designs for flexible-link manipulators


    Beteiligte:
    Juang, Jer-Nan (Autor:in) / Huang, Jen-Kuang (Autor:in) / Yang, Li-Farn (Autor:in)

    Kongress:

    AIAA, ASME, ASCE, AHS, and ASC, Structures, Structural Dynamics and Materials Conference ; 1989 ; Mobile, AL, United States


    Erscheinungsdatum :

    1989-01-01


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch


    Schlagwörter :


    Lyapunov-based control designs for flexible-link manipulators

    JUANG, JER-NAN / HUANG, JEN-KUANG | AIAA | 1989


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    Dynamic Modeling of Tow Flexible Link Manipulators

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