Global set-point tracking control for a class of nonlinear systems with iISS inverse dynamics

2010 ◽  
Vol 13 (6) ◽  
pp. 966-976 ◽  
Author(s):  
Jiang-Bo Yu ◽  
Yu-Qiang Wu
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Inverse Dynamics ◽  
Set Point ◽  
Point Tracking

Note on the relative degree of a flexible manipulator and implications to inverse dynamics for tracking control

Robotica ◽  
2002 ◽  
Vol 20 (1) ◽  
pp. 33-48 ◽  
Author(s):  
G.L. Wang ◽  
H. Unbehauen
Keyword(s):  
Control System ◽  
Tracking Control ◽  
Inverse Dynamics ◽  
Control Design ◽  
Extreme Case ◽  
Flexible Manipulator ◽  
Relative Degree ◽  
End Point ◽  
Point Tracking ◽  
Inverse Dynamics Control

This paper rechecks the relative degree of the end-point tracking control system of a flexible manipulator. New added insights into the ill-defined behavior of the relative degree are presented by constructing a perturbed truncation model. The implications for the inverse dynamics motivate us to reformulate the inverse dynamics based on the perturbed truncation model in the extreme case of truncating all of the flexible modes. New potential advantages arising from this novel formulation are investigated for the inverse dynamics control design as well.

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