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Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments
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A family of asymptotically stable control laws for flexible robots based on a passivity approach
,
J. T. Wen
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Abstract
A general family of asymptotically stabilizing control laws is introduced for a class of nonlinear Hamiltonian systems. The inherent passivity property of this class of systems and the passivity theorem are used to show the closed-loop input/output stability which is then related to the internal state space stability through the stabilizability and detectability condition. Applications of these results include fully actuated robots, flexible-joint robots, and robots with link flexibility.