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Displaying similar documents to “Hyperbolic functions that linearize inverted manifold surfaces.”

A family of hyperbolic-type control schemes for robot manipulators

Fernando Reyes-Cortes, Olga Felix-Beltran, Jaime Cid-Monjaraz, Gweni Alonso-Aruffo (2019)

Kybernetika

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This paper deals with the global position control problem of robot manipulators in joint space, a new family of control schemes consisting of a suitable combination of hyperbolic functions is presented. The proposed control family includes a large class of bounded hyperbolic-type control schemes to drive both position error and derivative action terms plus gravity compensation. To ensure global asymptotic stability of closed-loop system equilibrium point, we propose an energy-shaping...

Legendrian dual surfaces in hyperbolic 3-space

Kentaro Saji, Handan Yıldırım (2015)

Annales Polonici Mathematici

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We consider surfaces in hyperbolic 3-space and their duals. We study flat dual surfaces in hyperbolic 3-space by using extended Legendrian dualities between pseudo-hyperspheres in Lorentz-Minkowski 4-space. We define the flatness of a surface in hyperbolic 3-space by the degeneracy of its dual, which is similar to the case of the Gauss map of a surface in Euclidean 3-space. Such surfaces are a kind of ruled surfaces. Moreover, we investigate the singularities of these surfaces and the...

Rotary inverted pendulum: trajectory tracking via nonlinear control techniques

Luis E. Ramos-Velasco, Javier Ruiz, Sergej Čelikovský (2002)

Kybernetika

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The nonlinear control techniques are applied to the model of rotary inverted pendulum. The model has two degrees of freedom and is not exactly linearizable. The goal is to control output trajectory of the rotary inverted pendulum asymptotically along a desired reference. Moreover, the designed controller should be robust with respect to specified perturbations and parameters uncertainties. A combination of techniques based on nonlinear normal forms, output regulation and sliding mode...

Passivity based stabilization of non-minimum phase nonlinear systems

Juan C. Travieso-Torres, Manuel A. Duarte-Mermoud, Petr Zagalak (2009)

Kybernetika

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A cascade scheme for passivity-based stabilization of a wide class of nonlinear systems is proposed in this paper. Starting from the definitions and basic concepts of passivity-based stabilization via feedback (which are applicable to minimum phase nonlinear systems expressed in their normal forms) a cascade stabilization scheme is proposed for minimum and non-minimum phase nonlinear systems where the constraint of stable zero dynamics imposed by previous stabilization approaches is...

A novel method for the design of switching surfaces for discretized MIMO nonlinear systems

José Darío Luis-Delgado, Basil Mohammed Al-Hadithi, Agustín Jiménez (2017)

International Journal of Applied Mathematics and Computer Science

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Designing variable structure control with sliding mode (VSC-SM) control schemes needs a switching function or a sliding surface which guarantees the global stability of the closed-loop system. Despite the fact that a wide range of design approaches has been proposed for solving this mathematical problem, the number of proposed methodologies for nonlinear systems is not very extensive, especially for discrete time nonlinear MIMO systems, and most of them require some coordinate system...