Brief Input-to-state stability of PD-controlled robotic systems

Authors:
David Angeli
Affiliations:
Dipartimento Sistemi e Informatica, University of Firenze, Via di Santa Marta 3, 50139 Firenze, Italy
Venue:
Automatica (Journal of IFAC)
Year:
1999

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Abstract

A sufficient condition for input-to-state stability is presented for systems admitting a Lyapunov function with negative semi-definite derivative. An application to PD-controlled robotic manipulators is also described.