Dynamics and Control of Constrained Nonlinear Systems with Application to Robotics

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dc.contributor.authorChen, Xiaolinen_US
dc.contributor.authorShayman, Mark A.en_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T09:48:42Z
dc.date.available2007-05-23T09:48:42Z
dc.date.issued1991en_US
dc.description.abstractA class of nonlinear constrained dynamic systems is studied. We first characterize the constrained submanifold and the constrained dynamics without using the vector relative degree. Applying the nonlinear feedback and exact linearization techniques to constrained systems, we discuss several control problems for the constrained dynamics such as asymptotically stabilization, asymptotically tracking reference outputs. Our results for the control of constrained nonlinear systems extend previous results, which is based on linear approximation and linear feedback.en_US
dc.format.extent738975 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/5134
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1991-87en_US
dc.subjectgeometric controlen_US
dc.subjectnonlinear systemsen_US
dc.subjectroboticsen_US
dc.subjectstabilityen_US
dc.subjectIntelligent Servomechanismsen_US
dc.titleDynamics and Control of Constrained Nonlinear Systems with Application to Roboticsen_US
dc.typeTechnical Reporten_US

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