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A calculus for computing Filippov's differential inclusion with application to the variable structure control of robot manipulators

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2 Author(s)
Paden, B.E. ; University of California, Santa Barbara ; Sastry, S.S.

This paper develops a calculus for computing Filippov's differential inclusion which simplifies the analysis of dynamical systems described by differential equations with discontinuous right-hand-side. In particular, when a slightly generalized Lyapunov theory is used, the rigorous stability analysis of variable structure systems is routine. As an example, a variable structure control law for rigid-link robot manipulators is described and its stability is proved.

Published in:

Decision and Control, 1986 25th IEEE Conference on

Date of Conference:

10-12 Dec. 1986

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