NASA NTRS · 19920018539
Passive dynamic controllers for non-linear mechanical systems
Abstract
The objective is to develop active model-independent controllers for slewing and vibration control of nonlinear multibody flexible systems, including flexible robots. The topics are presented in viewgraph form and include: passive stabilization; work-energy rate principle; Liapunov theory; displacement feedback; dynamic controller; displacement and acceleration feedback; velocity feedback; displacement feedback; physical interaction; a 6-DOF robot; and simulation results.
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Jer-Nan Juang, Shih-Chin Wu, Minh Phan, Richard W Longman. 1991-12-10. Passive dynamic controllers for non-linear mechanical systems. https://ntrs.nasa.gov/citations/19920018539
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