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  • 1
    Electronic Resource
    Electronic Resource
    Suboptimal Control of Rigid Body Motion with a Quadratic Cost (1998)
    Springer
    Dynamics and control 8 (1998), S. 55-81 
    Details
    ISSN: 1573-8450
    Keywords: Rigid body ; quadratic cost ; Lyapunov functions ; Linear matrix inequalities ; stabilization
    Source: Springer Online Journal Archives 1860-2000
    Topics: Electrical Engineering, Measurement and Control Technology
    Notes: Abstract In this paper we consider the problem of controlling the rotational motion of a rigid body using three independent control torques. Given a quadratic cost we seek stabilizing state feedback controllers which guarantee that all motions starting within a specified bounded set have cost less than a given number; i.e., we seek suboptimal stabilizing controllers. For a special class of cost functions, we present explicit expressions for suboptimal stabilizing controllers yielding a cost arbitrarily close to the infimal cost. For the general case, we present sufficient conditions which guarantee the existence of linear, suboptimal, stabilizing controllers.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008278929841
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  • 2
    Electronic Resource
    Electronic Resource
    Practical stabilizability of uncertain dynamical systems: Application to robotic tracking (1985)
    Springer
    Journal of optimization theory and applications 47 (1985), S. 235-252 
    Details
    ISSN: 1573-2878
    Keywords: Uncertain dynamical systems ; robotic tracking ; stability ; deterministic feedback control
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract The tracking problem for a robotic manipulator withn controlled degrees of freedom and uncertain dynamics is considered. Based on the deterministic theory of Refs. 1–15 and requiring only knowledge of bounds on the system uncertainty, a classC of continuous feedback controls (adapted from Ref. 11) is proposed with respect to which the uncertain tracking system is practically stabilizable in the sense that, given a feasible path to be tracked and an arbitrarily small neighborhood σ of the origin in the appropriate error space, there exists a control inC such that the tracking error for the feedback controlled uncertain system is ultimately bounded with respect to σ. The theory is illustrated in a numerical example of a robot with two degrees of freedom.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00940771
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