The aim of the paper is to control a closed kinematic chain, under the assumption that the chain is under-actuated and that only partial measurements of the state variables are available. A Lyapunov approach is used for the design of an asymptotically stabilising feedback control law; for such a law, an estimate of the region of attraction is computed. © IEE, 1998.
Menini, L., Tornambè, A., Zaccarian, L. (1998). Modelling and control of an under-actuated closed kinematic chain. IEE PROCEEDINGS. CONTROL THEORY AND APPLICATIONS, 145(1), 1-8 [10.1049/ip-cta:19981464].
Modelling and control of an under-actuated closed kinematic chain
Menini, L.;Tornambè, A.;Zaccarian, L.
1998-01-01
Abstract
The aim of the paper is to control a closed kinematic chain, under the assumption that the chain is under-actuated and that only partial measurements of the state variables are available. A Lyapunov approach is used for the design of an asymptotically stabilising feedback control law; for such a law, an estimate of the region of attraction is computed. © IEE, 1998.File in questo prodotto:
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