Displaying similar documents to “Robust decoupling through algebraic output feedback in manipulation systems”

A geometric procedure for robust decoupling control of contact forces in robotic manipulation

Paolo Mercorelli, Domenico Prattichizzo (2003)

Kybernetika

Similarity:

This paper deals with the problem of controlling contact forces in robotic manipulators with general kinematics. The main focus is on control of grasping contact forces exerted on the manipulated object. A visco-elastic model for contacts is adopted. The robustness of the decoupling controller with respect to the uncertainties affecting system parameters is investigated. Sufficient conditions for the invariance of decoupling action under perturbations on the contact stiffness and damping...

On some geometric control properties of active suspensions systems

Domenico Prattichizzo, Paolo Mercorelli (2000)

Kybernetika

Similarity:

The geometric control properties of vehicles with active suspensions are analyzed. A special attention is devoted to the problem of disturbance decoupling. Active suspensions of advanced vehicles allow the active rejection of external disturbances exerted on the sprung mass of the vehicle and caused by road surface irregularity. We focus on the road irregularity disturbances with the purpose of isolating the chassis from vibrations transmitted through suspensions. The paper is aimed...

Disturbance decoupling of nonlinear MISO systems by static measurement feedback

Richard Pothin, Claude H. Moog, Xiao Hua Xia (2002)

Kybernetika

Similarity:

This paper highlights the role of the rank of a differential one-form in the solution of such nonlinear control problems via measurement feedback as disturbance decoupling problem of multi-input single output (MISO) systems. For the later problem, some necessary conditions and sufficient conditions are given.