High Gain Feedback and Telerobotic Tracking

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. Disciplines Systems and Communications Comments Koditschek, D. E. (1987). High Gain Feedback and Telerobotic Tracking. Proceedings of the Workshop on Space Telerobotics, 3, 355-363. NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently (April 2013), he is a faculty member at the School of Engineering and Applied Science at the University of Pennsylvania. This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/625 High Gain Feedback and Telerobotic Tracking D.E. Kditach&* Yale University New Haven, CT 06520-2157 Abstract L. 1 , 1 : 4 'L. 1 , 1 : 4 ' Asymptotically stable linear time invariant system u e capable of tracking u b i t r u y reference signah with a bounded error proportional to the magnitude of the reference signal (and ita derivativa). It ir rhown that a rimilu property holdr for a general c l w of nonlincu dynamical sys t em which includca all robob. A i in the linear c w , the mar bound may be made 'arbitrarily" small by increasing the magnitude of the feedback gains which stabilixe the syrhm. i