𝔖 Bobbio Scriptorium
✦   LIBER   ✦

Dynamics modeling and stability of robotic systems with discrete-time force control

✍ Scribed by József Kövecses; László L. Kovács; Gábor Stépán

Publisher
Springer
Year
2006
Tongue
English
Weight
284 KB
Volume
77
Category
Article
ISSN
0939-1533

No coin nor oath required. For personal study only.

📜 SIMILAR VOLUMES

Suboptimal control and stability of nonl
Suboptimal control and stability of nonlinear discrete-time systems
✍ S Hennequin; R Bouyekhf 📂 Article 📅 2000 🏛 Elsevier Science 🌐 English ⚖ 134 KB

In this paper suboptimality bounds and stability of nonlinear discrete-time in"nite-horizon controllers are investigated. The nominal plant is supposed to be controlled by means of a feedback control law which is optimal with respect to some given criterion. The use of the Taylor}Maclaurin formula a

On the stability of discrete-time system
On the stability of discrete-time systems with hysteretic controllers
✍ H. Bhaumik; A.K. Mahalanabis 📂 Article 📅 1970 🏛 Elsevier Science 🌐 English ⚖ 532 KB

The problem of deriving a frequency-domain su$cient condition for the global asymptotic stability of a discrete-time system having hysteretic controllers is considered. It is suggested that the hysteretic characteristic be replaced by a function of the form f (y, g) where y(t) is the input to the co

Dynamics and control of underactuated ma
Dynamics and control of underactuated manipulation systems: A discrete-time approach
✍ Norbert Scherm; Bodo Heimann 📂 Article 📅 2000 🏛 Elsevier Science 🌐 English ⚖ 407 KB

This article contains a discussion on the application of nonlinear multi-rate path planning and digital control methods to underactuated systems. Furthermore, a discretization method based on sensitivity functions is proposed.