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static feedback

Robotica (1)

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Nonlinear control robot: A phenomenological approach to linearization by static feedback
M. Verdier, M. Rouff, J. G. Fontaine
Journal:

Robotica / Volume 7 / Issue 4 / October 1989

Published online by Cambridge University Press:

09 March 2009, pp. 315-321
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This paper presents a linearization by static feedbacks in the robotic field, i.e. by feedback depending on the whole state space. A phenomenological approach is considered, which by using the derivation with respect to time, leads to the major results of the method. Simulation results are presented, and some aspects of the correction of the effect of the characteristic numbers are also discussed.