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A robot mathematical model is accepted to incorporate a description of friction phenomena in joints. The following is guaranteed by a proposed robust stabilizing feedback control: 1. positive invariance, global stability and global attraction with a finite reachability time of a set W of sliding motions, and 2. global attraction with a finite reachability time of a desired motion qd(·). The control...
The purpose of this paper is to develop new methods for constructing vector Liapunov functions and broaden the application of Liapunov's theory to stability analysis of large-scale dynamic systems. The application, so far limited by the assumption that the large-scale systems are composed of exponentially stable subsystems, is extended via the general concept of comparison functions to systems which...
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