ON SINGULAR OUTPUT TRACKING IN MULTIVARIABLE NONLINEAR-SYSTEMS

被引：0
|
作者：
FAYAZ, MA [1 ]
LAMNABHILAGARRIGUE, F [1 ]
机构：
[1] SUPELEC,SIGNAUX & SYST LAB,F-91192 GIF SUR YVETTE,FRANCE
来源：
LECTURE NOTES IN CONTROL AND INFORMATION SCIENCES | 1990年 / 144卷
关键词：
D O I：
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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 generalize some results from Crouch, Ighneiwa and Lamnabhi-Lagarrigue [1], to multi-input, multi-output nonlinear systems. The notion of rank of singularity is also introduced to quantify the regularity of the solutions to the singular tracking problem. Necessary and sufficient conditions for the trajectory tracking are then derived. A two degrees of freedom manipulator is chosen to illustrated the result.
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页码：611 / 619
页数：9
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