Creator:

Nijmeijer, Henk ; Berghuis, Harry

Contributor:

Tchoń, Krzysztof - ed. ; Gosiewski, Anatol - ed.

Title:

Lyapunov control in robotic systems: Tracking regular and chaotic dynamics

Subtitle:

Mathematical Methods in Robotics

Group publication title:

AMCS, volume 5 (1995)

Subject and Keywords:

sterowanie ; sterowanie-teoria ; sztuczna inteligencja ; matematyka stosowana ; informatyka

Abstract:

Lyapunov-type controllers for trajectory tracking of rigid robot manipulators are described. The so-called passivity-based controllers exploit the desired physical energy of the robot system. A discussion about tracking control in the absence of complete state information and model knowledge then leads to practical stability. It is shown that these Lyapunov-type controllers can also be used in other mechanical systems as e.g. the controlled Duffing equation. In that case the controller can be used as a tool for creation or annihilation of chaotic dynamics.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

1995

Resource Type:

artykuł

Pages:

373-389

Source:

AMCS, volume 5, number 2 (1995) ; click here to follow the link

Language:

eng

License CC BY 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego