Applications and prospect of the nonlinear decoupling method

Cotsaftis, Michel; Robert, J.; Rouff, Marc; Vibet, C.

doi:10.1016/s0045-7825(97)86746-1

Cited by 16 publications

(9 citation statements)

References 116 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…As a result in the design phase of the manipulator it is possible to detect mechanical couplings between links and to select a set of parameters. Besides, UQV are suitable for velocity control (as in [15]) or searching of nonlinear decoupling methods [4]. Finally, using UQV one can find analogous nonlinear coordinate transformation as in Refs.…”

Section: Remark 1 a Very Important Results Arising From Eq (3)mentioning

confidence: 99%

See 2 more Smart Citations

Inverse dynamics control in terms of unnormalized quasi-velocities

Herman

2005

Journal of the Franklin Institute

View full text Add to dashboard Cite

Section: Remark 1 a Very Important Results Arising From Eq (3)mentioning

confidence: 99%

“…[1][2][3][4][5][6][7]). Manipulators as multirigid body systems are traditionally described by complex second-order nonlinear differential equations.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Inverse dynamics control in terms of unnormalized quasi-velocities

Herman

2005

Journal of the Franklin Institute

View full text Add to dashboard Cite

“…Hence there arises a problem of nonlinear decoupling of the system dynamics under control law. This problem concerning a nonlinear mechanical system was widely discussed in [9]. The authors also provided a large bibliography about mathematical tools and practical aspects of the methods considered.…”

Section: Introductionmentioning

confidence: 99%

Sliding mode control of manipulators using first-order equations of motion with diagonal mass matrix

Herman¹

2005

Journal of the Franklin Institute

View full text Add to dashboard Cite

“…Under some conditions of robustness [1]- [3], nonlinear state feedback methods [4]- [5], are well known and well efficient methods for many nonlinear dynamical problems. However, in many applications, a complete dynamical knowledge of the system is not really needed everywhere in the state space, but only in the neighbourhood of critical behaviours characterizing the process.…”

Section: Figure 1 : Dynamics In Interactionmentioning

confidence: 99%

Decoupling Partially Unknown Dynamical Systems by State Feedback Equations

Makany¹,

Rouff

Lakhdari³

Understanding Complex Systems

View full text Add to dashboard Cite

One problem for efficient control of complex systems is to take into account secondary time varying parameters behaviour coming from coupling partially unknown dynamics. Under the assumption of robust model, nonlinear state feedback decoupling methods can be used for the control of such systems.We show in our paper, that if these parameters are slowly varying in time before the main dynamics (the exact mathematical meaning of this notion is given in the article), the classical decoupling methods remain valid with parameterized laws, but if parameters dynamic are non negligible before the main dynamic, we are in the fast varying parameters case, and we show that in this case decoupling methods operators must be changed in order to include these dynamical effects.We show also that in this case the use of classical decoupling methods, leads to non efficient control and multiple spurious effects.The computation of the static and dynamic feedback laws, in case of fast varying parameters, are given, for nonlinear decoupling methods, linearization and rejection of perturbations, as the research of the functional invariants of the output.A robust example in robotics is given, and the contribution of parameters dynamic is shown.

show abstract

Applications and prospect of the nonlinear decoupling method

Cited by 16 publications

References 116 publications

Inverse dynamics control in terms of unnormalized quasi-velocities

Inverse dynamics control in terms of unnormalized quasi-velocities

Sliding mode control of manipulators using first-order equations of motion with diagonal mass matrix

Decoupling Partially Unknown Dynamical Systems by State Feedback Equations

Contact Info

Product

Resources

About