Robust state/output feedback linearization of direct drive robot manipulators: A controllability and observability analysis
Adolfo Perrusquía
Topics & Concepts
Control theory (sociology)ObservabilityControllabilityTaylor seriesExponential stabilityBounded functionFeedback linearizationRobotLyapunov functionMathematicsNonlinear systemLinearizationRobust controlComputer scienceApplied mathematicsArtificial intelligenceControl (management)Mathematical analysisPhysicsQuantum mechanicsAdaptive Control of Nonlinear SystemsAdvanced Control Systems OptimizationIterative Learning Control Systems