An Exponential Linear Model Matching for a Closed Kinematics Chain

CARLOS AGUILAR IBÁÑEZ, MOISES BONILLA, ÓSCAR CHAVOYA A.

Resumen


IN THIS PAPER WE PROPOSE AN IMPLICIT LINEAR CONTROL LAW FOR A TWO DEGREE FREEDOM MANIPULATOR WHOSE AIM IS TO STABILIZE AND METCH A LINEAR MODEL. WE SHOW THAT FOR ANY FINITE INITIAL CONDITION THERE EXISTS A SUFFICIENT SMALL CONTROL PARAMETRER, SUCH THAT THE MODEL MATCHING IS EXPONENTIALLY ACCHIEVED

Palabras clave


PARALLEL ROBOTS; LYAPUNOV 2ND METHOD; STABILITY; IMPLICIT SYSTEMS; PD CONTROL LAW

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Contacto:
Oscar Zavala