Williams, SJ and Glover, K (1985) ROBOT DYNAMIC CONTROL INSTABILITIES. Proceedings of the American Control Conference. pp. 390-392. ISSN 0743-1619Full text not available from this repository.
The authors demonstrate that a widely proposed method of robot dynamic control can be inherently unstable, due to an algebraic feedback loop condition causing an ill-posed feedback system. By focussing on the concept of ill-posedness a necessary and sufficient condition is derived for instability in robot manipulator systems which incorporate online acceleration cross-coupling control. Also demonstrated is a quasilinear multivariable control framework useful for assessing the robustness of this type of control when the instability condition is not obeyed.
|Divisions:||Div F > Control|
|Depositing User:||Cron Job|
|Date Deposited:||07 Mar 2014 12:02|
|Last Modified:||27 Nov 2014 19:24|