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- W2004679971 abstract "In this paper, we consider the simultaneous quadratic stabilization problem for a class of linear time-invariant (LTI) systems. It has been shown that a set of LTI systems in block companion form is simultaneously quadratically stabilizable by a single static state feedback controller. Based on this result, a new approach to robot tracking controller design is presented. The proposed control scheme consists of a feedforward controller based on the inverse dynamics of the robot and a feedback controller. The nonlinear model of the robot is viewed as piecewise LTI systems obtained by linearizing the model at selected number of points on a specified trajectory in the joint space. The collection of all the LTI systems constitutes a set in which each member is observed to be in block companion form. For this class of systems, an algorithm for the design of a single stabilizing feedback controller is presented. A numerical example of a two link manipulator has been considered to validate the proposed theory." @default.
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- W2004679971 date "1998-03-01" @default.
- W2004679971 modified "2023-10-16" @default.
- W2004679971 title "Quadratic stabilization of a class of linear systems and its application to robot control" @default.
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- W2004679971 doi "https://doi.org/10.1080/00207729808929520" @default.
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