effectively used in control design. The dynamics has a decomposition consisting of matrix operators satisfying many identities and giving insight into the dynamical system. To show the utility of this formalism, we investigate a disturbance attenuation control problem. We introduce a meaningful performance index which has an interesting interpretation in terms of the `normalized' robot dynamics. Finally, we derive a new adaptive controller using the local structure found in the dynamics and test it on a 3-link planar robot arm.
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