LINEAR DECOUPLING CONTROLLERS FOR CONSTRAINED DYNAMIC-SYSTEMS

Linear decoupling controllers of proportional derivative (PD) type are considered for natural and robotic systems operating under holonomic constraints. The dynamic system must be decomposed into orthogonal sub spaces of motion and constraint. The incremental motion of the system along the two hyperplanes must be stable. Decoupling controllers, incl uding both non-interacting and disturbance decoupling types, are param eterized using a single matrix parameter. The proof of stability is ba sed on Lyapunov function approach.