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Title: On the stability of nonlinear PD control

Creator:

Armstrong, Brian ; McPherson, Joseph ; Li, Yonggang

Date:

1997

Resource Type:

artykuł

Contributor:

Kozłowski, Krzysztof - ed.

Subtitle:

Recent Developments in Robotics

Group publication title:

AMCS, volume 7 (1997)

Abstract:

A construction of nonlinear-PD control (NPD control) is considered which applies increased control effort when the system output is moving away from its desired value and reduced effort when the output is moving toward the goal point. Such NPD control has been described previously in the literature and experimentally demonstrated; but to date, no stability proof has been given. For strictly proper, time invariant SISO systems with NPD control, stability is established by demonstrating a Lyapunov function. Design, and implementation issues are addressed and design examples are presented.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Resource Identifier:

oai:zbc.uz.zgora.pl:57812

Pages:

273-292

Source:

AMCS, volume 7, number 2 (1997) ; click here to follow the link

Language:

eng

Rights:

Biblioteka Uniwersytetu Zielonogórskiego

Subject and keywords:

sterowanie sterowanie-teoria sztuczna inteligencja matematyka stosowana informatyka

Object collections:

Last modified:

Sep 2, 2021

In our library since:

Nov 18, 2020

Number of object content hits:

77

All available object's versions:

https://zbc.uz.zgora.pl/publication/64495

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Edition name Date
On the stability of nonlinear PD control Sep 2, 2021

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