Stability analysis of nonlinear bang-bang impact control for a one degree of freedom robotic manipulator

This paper presents a stability analysis of nonlinear bang-bang impact control for a one degree of freedom robotic manipulator based on an analysis in L/sub 2/ space. The physical implications of sufficient stability conditions are explained in terms of sampling time, accuracy of inertia estimation, control gains, and rate of change in the Coriolis, centrifugal, and disturbance forces. The stability conditions are not stringent and are verified by simulations.