標題: On the stability of the hybrid-damped resolved-acceleration control
作者: Lin, SK
Wu, SL
電控工程研究所
Institute of Electrical and Control Engineering
公開日期: 1-Sep-1998
摘要: This paper points out that the stability analysis of the hybrid-damped resolved-acceleration control in our earlier work is incomplete, since the stability was concluded directly from the fact that the joint velocities come to rest as time approaches infinity. A similar incomplete technique was also used in the work of Wampler and Leifer to prove the stability of a damped least-squares resolved-acceleration control scheme. In this paper, we use LaSalle's invariance principle rigorously to show that the solution trajectory of the hybrid-damped resolved-acceleration control will eventually come to the target without steady-state error or will stay at a kinematic singular point with some steady-state error. Discussions on the case of staying at a singular point are also given. (C) 1998 John Wiley & Sons, Inc.
URI: http://hdl.handle.net/11536/32444
ISSN: 0741-2223
期刊: JOURNAL OF ROBOTIC SYSTEMS
Volume: 15
Issue: 9
起始頁: 505
結束頁: 510
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