Nonlinear Regulators in the Position Stabilization Problem of the Holonomic Mechanical System
Aleksandr AndreevUlyanovsk State University, Ulyanovsk, 432017, RussiaOlga PeregudovaUlyanovsk State University, Ulyanovsk, 432017, Russia
2018en
ABI
Abstract
The application of nonlinear proportional-integral and proportional-integro-differential regulators in the program position stabilization problem of a holonomic mechanical system is investigated. To this end, the method of Lyapunov functionals is developed in the stability problem of Volterra integro-differential equations. As an example, the global regulation problem of a three-link planar manipulator is solved.
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Cited by 30 references