INVERSION OF NONLINEAR TIME-VARYING SYSTEMS

被引：17

作者：

DIBENEDETTO, MD

LUCIBELLO, P

机构：

[1] Dipartimento di Informatica e Sistemistica, Universit di Roma “La Sapienza,”, Via Eudossiana

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1993年 / 38卷 / 08期

关键词：

D O I：

10.1109/9.233163

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 note, a new procedure for inverting nonlinear systems is proposed, which presents some computational advantages when applied to flexible robot arms or. more generally, to mechanical structures. This procedure will be presented in a general setting, for nonlinear time-varying systems. An iterative algorithm is proposed which computes a smooth controlled invariant time-varying manifold whose mathematical properties are illustrated and exploited. An application to a flexible two-link manipulator illustrates the given algorithm and its computational advantages.

引用

页码：1259 / 1264

页数：6

共 16 条

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