Computational study demonstrates stability domain estimation under hard control bounds in a robotic manipulator, highlighting effective robust stabilization despite dynamic uncertainties.
The problem of estimating the region of stability for uncertain systems with bounded controllers and the sliding mode requirement is examined. A novel type of controller for a class of linear time-invariant systems subject to uncertainties is proposed. A transformation for decoupling the fast and slow states is utilized to investigate the stability-domain estimates of the system. The results are then applied to a two-joint planar manipulator and illustrated by computer simulation. >
No takes yet. Share an insight, caveat, or question.
Hached et al. (1988) studied this question.
Synapse has enriched 5 closely related papers on similar clinical questions. Consider them for comparative context: