{"title":"一类柔性机械臂工作空间的轨迹跟踪:稳定性研究","authors":"P. Bigras, M. Saad, J. O'Shea","doi":"10.1109/CCECE.1995.528075","DOIUrl":null,"url":null,"abstract":"This article presents a control law which ensures the global asymptotic stability of the tracking error, and also a stability analysis based on the theorem of passivity and a semi-guardian application enabling the rate of convergence of the tracking error to be increased. A simulation is presented to validate the approach.","PeriodicalId":158581,"journal":{"name":"Proceedings 1995 Canadian Conference on Electrical and Computer Engineering","volume":"31 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1995-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Tracking of trajectories in the working space of a class of flexible manipulators: study of stability\",\"authors\":\"P. Bigras, M. Saad, J. O'Shea\",\"doi\":\"10.1109/CCECE.1995.528075\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This article presents a control law which ensures the global asymptotic stability of the tracking error, and also a stability analysis based on the theorem of passivity and a semi-guardian application enabling the rate of convergence of the tracking error to be increased. A simulation is presented to validate the approach.\",\"PeriodicalId\":158581,\"journal\":{\"name\":\"Proceedings 1995 Canadian Conference on Electrical and Computer Engineering\",\"volume\":\"31 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1995-09-05\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings 1995 Canadian Conference on Electrical and Computer Engineering\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCECE.1995.528075\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings 1995 Canadian Conference on Electrical and Computer Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCECE.1995.528075","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Tracking of trajectories in the working space of a class of flexible manipulators: study of stability
This article presents a control law which ensures the global asymptotic stability of the tracking error, and also a stability analysis based on the theorem of passivity and a semi-guardian application enabling the rate of convergence of the tracking error to be increased. A simulation is presented to validate the approach.
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