INVERSION OF NONLINEAR TIME-VARYING SYSTEMS

Authors
DIBENEDETTO MD LUCIBELLO P
Citation
Md. Dibenedetto et P. Lucibello, INVERSION OF NONLINEAR TIME-VARYING SYSTEMS, IEEE transactions on automatic control, 38(8), 1993, pp. 1259-1264
Citations number
16
Categorie Soggetti
Controlo Theory & Cybernetics","Computer Applications & Cybernetics","Engineering, Eletrical & Electronic
Journal title
IEEE transactions on automatic control → ACNP
ISSN journal
00189286
Volume
38
Issue
8
Year of publication
1993
Pages
1259 - 1264
Database
ISI
SICI code
0018-9286(1993)38:8<1259:IONTS>2.0.ZU;2-G
Abstract
In this note, a new procedure for inverting nonlinear systems is propo sed, which presents some computational advantages when applied to flex ible robot arms or. more generally, to mechanical structures. This pro cedure will be presented in a general setting, for nonlinear time-vary ing systems. An iterative algorithm is proposed which computes a smoot h controlled invariant time-varying manifold whose mathematical proper ties are illustrated and exploited. An application to a flexible two-l ink manipulator illustrates the given algorithm and its computational advantages.