Explicit Structured Singular Value Analysis of Manipulators with Passivity Based Control

DOI10.1007/978-3-540-73890-9_31MaRDI QIDQ5436789zbMATH OpenOpenAlexFDO

Authors Satoru Sakai, Kenji Fujimoto

Publication date 17 January 2008

Published in Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-3-540-73890-9_31

zbMATH Keywords

Hamilton's canonical equationsredundant manipulators

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Applications of the passive systems approach to the stability analysis of adaptive controllers for robot manipulators
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Cites work

• Canonical transformation and stabilization of generalized Hamiltonian systems
• scientific article; zbMATH DE number 46299 (Why is no real title available?)
• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• Interconnection and damping assignment passivity-based control: a survey
• L\(_2\) gain and passivity techniques in nonlinear control.
• Stabilization of Hamiltonian systems

Cited in

(1)

• Applications of the passive systems approach to the stability analysis of adaptive controllers for robot manipulators

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