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ID 663
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title alternative
ロバスト状態フィードバック制御則を構成するためのリアプノフの方法とそのロボット制御への応用
creator
Wu, Hansheng
Mizukami, Koichi
subject
Uncertain dynamical systems
state feedback synthesis
Lyapunov functions
practical stability
asymptotic stability
robot manipulators
abstract
Robust stabilization for a class of nonlinear dynamical systems with uncertainties is investigated. Based on the stabilizability of a nominal system (i. e. the system in the absence of uncertainty), a class of continuous state feedback controllers for uncertain dynamical systems are presented. Compared with those reported in the control literature, such a class of stae feedback controllers are non-saturation type, have a rather simple form, and can guarantee practical stability and asymptotic stability of uncertain dynamical systems in terms of the choice of gain control function. Particularly, no chattering will appear in implementation for the control. A numerical example on the robust stabilization of a simple pendulum is given to demonstrate the utilization of the results. As an application of the results presented in this paper, the robust control problem of robot manipulators is also discussed, and a simpler robust control law for n-link robot manipulators is derived.
journal title
Memoirs of the Faculty of Integrated Arts and Sciences, Hiroshima University. IV, Science reports
volume
Volume 21
start page
93
end page
114
date of issued
1995-12-28
publisher
広島大学総合科学部
contributor
国立情報学研究所
date of created
2006-03-21
issn
1340-8364
ncid
SelfDOI
language
eng
nii type
Departmental Bulletin Paper
HU type
Departmental Bulletin Papers
DCMI type
text
format
application/pdf
text version
publisher
department
Graduate School of Integrated Arts and Sciences
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