Stabilization of Discrete-time Nonlinear Systems. Application to a Manipulator Robot
نویسندگان
چکیده
In this note, we investigate the problem of state feedback stabilization for affine nonlinear discrete-time systems. From a prescribed Lyapunov function, we introduce a modified Riccati equation so that the proposed state feedback law covers a large class of dynamical systems. In particular when the unforced dynamical model is not Lyapunov stable or when the system has unstabilizable first order linearization. Sufficient conditions for asymptotic stabilization are expressed in terms of matrix inequalities. Simplicity of implementation and performances of the proposed technique will be shown through a relevant application. In fact, the theory developed will be applied on a three axes direct-drive manipulator.
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