Inversion of nonlinear time-varying systems

Abstract

A procedure for inverting nonlinear systems that presents some computational advantages when applied to flexible robot arms or, more generally, to mechanical structures, is given. The procedure is presented in a general setting, for nonlinear time-varying systems. An iterative algorithm that computes a smooth controlled invariant time-varying manifold, the mathematical properties of which are illustrated and exploited, is also proposed. An application to a flexible two-link manipulator illustrates the algorithm and its computational advantages.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>