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Tracking in nonlinear differential-algebraic control systems with applications to constrained robot systems. (English) Zbl 0815.93057

Nonlinear control systems modeled by differential-algebraic equations are studied. A procedure is developed such that an equivalent state realization of the control system is expressed in a familiar normal form. A tracking problem associated with the system is solved and its applications to force and position control in robotics are presented.

MSC:

93C85 Automated systems (robots, etc.) in control theory
93B17 Transformations
93C10 Nonlinear systems in control theory
93B52 Feedback control
93B11 System structure simplification
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References:

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