Abstract
The paper presents the solution to the stabilization problem of steady state motions for a holonomic mechanical system by using relay controllers. This solution is achieved by proving new theorems on the asymptotic stability of the solution to a differential equation with a discontinuous right-hand side. The novelty of the theorems is based on the limiting inclusions construction and the use of semidefinite Lyapunov functions. As an example, the stabilization problem of steady-state motion for a five-link robot manipulator is solved by using relay controller.
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1. On the Motion Control of a Five-Link Manipulator;2022 16th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference);2022-06-01