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.
Lyapunov-based control designs for flexible-link manipulators
AIAA, ASME, ASCE, AHS, and ASC, Structures, Structural Dynamics and Materials Conference ; 1989 ; Mobile, AL, United States
1989-01-01
Aufsatz (Konferenz)
Keine Angabe
Englisch
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