APPLICATION OF HAMILTONIAN MECHANICS IN EXPONENTIALLY STABLE CONTROL OF ROBOTS
Abstract eng: The paper deals with tracking control for robots-manipulators, where the dynamics is described by means of Hamiltonian mechanics. This way leads to different physical descriptive quantities used in control design. In the paper, the model-oriented Lyapunov-based control is considered. It is introduced in novel formulation by means of Hamiltonian mechanics.
Publisher:
Brno University of Technology, Institute of Solid Mechanics, Mechatronics and Biomechanics, Brno
Conference Title:
Conference Title:
Engineering Mechanics 2017
Conference Venue:
Svratka, CZ
Conference Dates:
2017-05-15 / 2017-05-18
Rights:
Text je chráněný podle autorského zákona č. 121/2000 Sb.
Record appears in:
Record created 2017-05-22, last modified 2017-05-22
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