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Title: Tracking in nonlinear differential-algebraic control systems with applications to constrained robot systems
Authors: Krishnan, H. 
Mcclamroch, N.H.
Keywords: Constrained robot systems
Differential-algebraic equations
Force control
Nonlinear control
Issue Date: 1994
Citation: Krishnan, H., Mcclamroch, N.H. (1994). Tracking in nonlinear differential-algebraic control systems with applications to constrained robot systems. Automatica 30 (12) : 1885-1897. ScholarBank@NUS Repository.
Abstract: We consider the design of a feedback control law for control systems described by a class of nonlinear differential-algebraic equations so that certain desired outputs track given reference inputs. The nonlinear differential-algebraic control system being considered is not in state variable form. Assumptions are introduced and a procedure is developed such that an equivalent state realization of the control system described by nonlinear differential-algebraic equations is expressed in a familiar normal form. A nonlinear feedback control law is then proposed which ensures, under appropriate assumptions, that the tracking error in the closed loop differential-algebraic system approaches zero exponentially. Applications to simultaneous contact force and position tracking in constrained robot systems with rigid joints, constrained robot systems with joint flexibility, and constrained robot systems with significant actuator dynamics are discussed.
Source Title: Automatica
ISSN: 00051098
DOI: 10.1016/0005-1098(94)90049-3
Appears in Collections:Staff Publications

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