MANIPULATION
Feedback stabilization of nonlinear Hamiltonian control systems
Jing‐Sin Liu, Wei‐Song Lin, King Yuan
- Year
- 1988
- Citations
- 2
Abstract
Abstract Conditions for feedback stabilization of smooth affine nonlinear Hamiltonian systems such as robotic manipulators are given. Some results existing in the literature are unified and extended. Application to nonconservative bilinear systems in elasticity is illustrated.
Keywords
Nonlinear systemControl theory (sociology)Hamiltonian systemAffine transformationHamiltonian (control theory)Bilinear interpolationMechanical systemFeedback controlNonlinear controlMathematics
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