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Lyapunov-based control designs for flexible-link manipulatorsA feedback controller for the stabilization of closed-loop systems is proposed which is based on the Liapunov stability criterion. A feedback control law is first generated for the linear portion of the system equation using linear control theory. A feedback control is then designed for the nonlinear portion of the system equation by making negative the time derivative of a positive definite Liapunov function.
Document ID
19890043331
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Juang, Jer-Nan (NASA Langley Research Center Hampton, VA, United States)
Huang, Jen-Kuang (Old Dominion University Norfolk, VA, United States)
Yang, Li-Farn (NASA Langley Research Center Hampton, VA, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
Cybernetics
Report/Patent Number
AIAA PAPER 89-1214
Meeting Information
Meeting: AIAA, ASME, ASCE, AHS, and ASC, Structures, Structural Dynamics and Materials Conference
Location: Mobile, AL
Country: United States
Start Date: April 3, 1989
End Date: April 5, 1989
Accession Number
89A30702
Distribution Limits
Public
Copyright
Other

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