Nonlinear control systems modeled by differential-algebraic equations are studied. A tracking problem associated with the system is solved and its applications to force and position control in robotics are presented.
Constrained tracking control of nonlinear systems
β Scribed by Ping Lu
- Publisher
- Elsevier Science
- Year
- 1996
- Tongue
- English
- Weight
- 571 KB
- Volume
- 27
- Category
- Article
- ISSN
- 0167-6911
No coin nor oath required. For personal study only.
π SIMILAR VOLUMES
In this paper infinite-dimensional dynamical systems described by nonlinear abstract differential equations are considered. Using the generalized open mapping theorem sufficient conditions for constrained exact local controllability are formulated and proved. It is generally assumed that the values
Both dynamic state feedback as well as output feedback tracking control designs are presented in this paper for constrained robot systems under parametric uncertainties and external disturbances. The previous studies on tracking control design, not considering the velocity measurements, address only
In this paper, the problem of output tracking for single-inputlsingle-output nonlinear systems in the presence of mismatched uncertainty is studied. In our problem, the so-called matching condition in the literature is further relaxed, and a more general condition on the uncertainty is given. To att
## Abstract The problem of output tracking control is considered for a general class of nonlinear differentialβalgebraic systems. Regularization algorithm proposed here provides sufficient conditions for the existence of a regularizing feedback controller that renders the closedβloop system to have