11,100 research outputs found
Robust Asymptotic Stabilization of Nonlinear Systems with Non-Hyperbolic Zero Dynamics
In this paper we present a general tool to handle the presence of zero
dynamics which are asymptotically but not locally exponentially stable in
problems of robust nonlinear stabilization by output feedback. We show how it
is possible to design locally Lipschitz stabilizers under conditions which only
rely upon a partial detectability assumption on the controlled plant, by
obtaining a robust stabilizing paradigm which is not based on design of
observers and separation principles. The main design idea comes from recent
achievements in the field of output regulation and specifically in the design
of nonlinear internal models.Comment: 30 pages. Preliminary versions accepted at the 47th IEEE Conference
on Decision and Control, 200
Mathematical control of complex systems
Copyright © 2013 ZidongWang et al.This is an open access article distributed under the Creative Commons Attribution License,
which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited
A family of asymptotically stable control laws for flexible robots based on a passivity approach
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
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