s of Lectures Monday, August 28, 2006

Analysis of nonlinear autonomous systems has been a popular field of study in recent decades. As an interesting nonlinear behavior, chaotic dynamics has been intensively investigated since Lorenz discovered the first physical evidence of chaos in his famous equations. Although many chaotic systems have been ever reported in the literature, a systematic and qualitative approach for chaos generat...

joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. the problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

in this paper, a new analytical method to find a near-optimal high gain controller for the non-minimum phase affine nonlinear systems is introduced. this controller is derived based on the closed form solution of the hamilton-jacobi-bellman (hjb) equation associated with the cheap control problem. this methodology employs an algebraic equation with parametric coefficients for the systems with s...