Coordinate transformations and logical operations for minimizing conservativeness in coupled stability criteria

J. E. Colgate*

*Corresponding author for this work

Research output: Contribution to journalArticle

11 Scopus citations

Abstract

Often it is desirable to guarantee that a manipulator will remain stable when contacting any member of some set of environments. Coupled stability criteria based on passivity may be used to provide such a guarantee, but may be arbitrarily conservative depending on the environment set. In this paper, two techniques for reducing conservativeness are introduced. The first is based on a canonical coordinate transformation which enables an environment set viewed in the frequency domain to be conformally mapped to the interior of the unit circle. A stability criterion is then derived via the small gain theorem. The second technique uses logical combinations of such criteria to reduce conservativeness further.Both techniques are illustrated with nontrivial examples.

Original languageEnglish (US)
Pages (from-to)643-649
Number of pages7
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume116
Issue number4
DOIs
StatePublished - Dec 1994

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications

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