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High Gain Feedback and Telerobotic Tracking

Proceedings of the Workshop on Space Telerobotics, January 1987

D. E. Koditschek
Yale University
Full PDF | Penn Scholarly Commons | Web Link

Abstract
Asymptotically stable linear time invariant systems are capable of tracking arbitrary reference signals with a bounded error proportional to the magnitude of the reference signal (and its derivatives). It is shown that a similar property holds for a general class of nonlinear dynamical systems which includes all robots. As in the linear case, the error bound may be made arbitrarily small by increasing the magnitude of the feedback gains which stabilize the system.
BibTeX entry
@inproceedings{kod-jpl-1987,
   title      = {High gain feedback and telerobotic tracking},
   author     = {D. E. Koditschek},
   booktitle  = {Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics},
   volume     = {3},
   year       = {1987},
   month      = {January},
   pages      = {355-363},
}

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