By Topic

Inversion of nonlinear time-varying systems

Sign In

Full text access may be available.

To access full text, please use your member or institutional sign in.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Di Benedetto, M.D. ; Dipartimento di Inf. e Sistemistica, Roma Univ., Italy ; Lucibello, P.

A procedure for inverting nonlinear systems that presents some computational advantages when applied to flexible robot arms or, more generally, to mechanical structures, is given. The procedure is presented in a general setting, for nonlinear time-varying systems. An iterative algorithm that computes a smooth controlled invariant time-varying manifold, the mathematical properties of which are illustrated and exploited, is also proposed. An application to a flexible two-link manipulator illustrates the algorithm and its computational advantages

Published in:

Automatic Control, IEEE Transactions on  (Volume:38 ,  Issue: 8 )