A CLASS OF OUTPUT-FEEDBACK GLOBALLY STABILIZING CONTROLLERS FOR FLEXIBLE JOINTS ROBOTS

被引：24

作者：

ORTEGA, R ^{[1
]}

KELLY, R ^{[1
]}

LORIA, A ^{[1
]}

机构：

[1] CICESE,DIV FIS APLICADA,ENSENADA 22800,BAJA CALIFORNIA,MEXICO

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1995年 / 11卷 / 05期

关键词：

D O I：

10.1109/70.466606

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we characterize a class of passivity-based regulators for robot manipulators which, without assuming velocity measurement, aims at modifying the total energy of the closed loop and adding the required dissipation. The class is parametrized in terms of the desired closed loop total energy function, specified by the designer. We show that several apparently unrelated stabilizing output feedback regulators recently reported in the literature, are in fact particular cases of this class. Our results aim at providing a unified framework to compare different stabilizing schemes via analysis of their energy dissipation properties.

引用

页码：766 / 770

页数：5

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