Article : texte imprimé

Design of gain-scheduled strictly positive real controllers using numerical optimization for flexible robotic systems

James Richard Forbes, Auteur ; Christopher John Damaren, Auteur |

Dans Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 132 N° 3, Mai 2010)

The design of gain-scheduled strictly positive real (SPR) controllers using numerical optimization is considered. Our motivation is robust, yet accurate motion control of flexible robotic systems via the passivity theorem. It is proven that a fa[...]

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