Artículos de revistas
An Exponential Linear Model Matching for a Closed Kinematics Chain
An Exponential Linear Model Matching for a Closed Kinematics Chain
Autor
AGUILAR IBÁÑEZ, CARLOS
BONILLA, MOISES
CHAVOYA A., ÓSCAR
Institución
Resumen
IN THIS PAPER WE PROPOSE AN IMPLICIT LINEAR CONTROL LAW FOR A TWO DEGREE FREEDOM MANIPULATOR WHOSE AIM IS TO STABILIZE AND METCH A LINEAR MODEL. WE SHOW THAT FOR ANY FINITE INITIAL CONDITION THERE EXISTS A SUFFICIENT SMALL CONTROL PARAMETRER, SUCH THAT THE MODEL MATCHING IS EXPONENTIALLY ACCHIEVED IN THIS PAPER WE PROPOSE AN IMPLICIT LINEAR CONTROL LAW FOR A TWO DEGREE FREEDOM MANIPULATOR WHOSE AIM IS TO STABILIZE AND METCH A LINEAR MODEL. WE SHOW THAT FOR ANY FINITE INITIAL CONDITION THERE EXISTS A SUFFICIENT SMALL CONTROL PARAMETRER, SUCH THAT THE MODEL MATCHING IS EXPONENTIALLY ACCHIEVED