This paper deals with the problem of inverting a nonlinear map. The proposed solution consists in a nonlinear state observer, which mimics a Newton-like algorithm, that allows to determine the inverse of a given diffeomorphism in finite time. The results are illustrated by application to the inverse kinematics of a three DOF planar manipulator.
Menini, L., Possieri, C., Tornambè, A. (2018). A Newton-like algorithm to compute the inverse of a nonlinear map that converges in finite time. AUTOMATICA, 89(March 2018), 411-414 [10.1016/j.automatica.2017.12.021].
A Newton-like algorithm to compute the inverse of a nonlinear map that converges in finite time
Menini, Laura;Possieri, Corrado;Tornambè, Antonio
2018-01-01
Abstract
This paper deals with the problem of inverting a nonlinear map. The proposed solution consists in a nonlinear state observer, which mimics a Newton-like algorithm, that allows to determine the inverse of a given diffeomorphism in finite time. The results are illustrated by application to the inverse kinematics of a three DOF planar manipulator.File in questo prodotto:
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