Creator:

Armstrong, Brian ; McPherson, Joseph ; Li, Yonggang

Contributor:

Kozłowski, Krzysztof - ed.

Title:

On the stability of nonlinear PD control

Subtitle:

Recent Developments in Robotics

Group publication title:

AMCS, volume 7 (1997)

Subject and Keywords:

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

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

Date:

1997

Resource Type:

artykuł

Pages:

273-292

Source:

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

Language:

eng

License CC BY 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego