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.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Lyapunov-based control designs for flexible-link manipulators


    Contributors:

    Conference:

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


    Publication date :

    1989-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English


    Keywords :


    Lyapunov-based control designs for flexible-link manipulators

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


    Robust control algorithms for two-link flexible manipulators

    Lochan, Kshetrimayum / Roy, Binoy Krishna / Subudhi, Bidyadhar et al. | TIBKAT | 2025


    Flexible-Link Manipulators: Dynamic Analysis and Advanced Control Strategies

    Boucetta, R. / Hamdi, S. / Bel Hadj Ali, S. | Springer Verlag | 2020


    Dynamic Modeling of Tow Flexible Link Manipulators

    E. Abedi / A. Ahmadi Nadooshan / S. Salehi | BASE | 2008

    Free access

    Spatial-Operator Algebra For Flexible-Link Manipulators

    Jain, Abhinandan / Rodriguez, Guillermo | NTRS | 1994