A technique for the recursive inversion of matrices and matrix functions is presented. The proposed method can be modelled as a discrete nonlinear dynamic system. Convergence, stability and robustness properties are discussed and eventually verified through various numerical experiments.
Inspec keywords: matrix algebra; convergence; discrete time systems; sensitivity analysis; nonlinear dynamical systems; stability; inverse problems
Other keywords:
Subjects: Stability in control theory; Nonlinear control systems; Algebra; Discrete control systems; Control system analysis and synthesis methods
References
-
-
1)
- AICARDI, M., CAITI, A., CANNATA, G., CASALINO, G.: `Stability and robustness analysis of a two layered hierarchical architecture for the closed loop control of robots in the operational space', IEEE Robotics and automation conf, May 1995, Nagoya, Japan.
-
2)
- WOLOICH, W.A., ELLIOT, H.: `A computational technique for inverse kinematics', Proc. 23rd Conf. Decision and control, 1984, Las Vegas, p. 1359–1363.
-
3)
- BALESTRINO, A., DE MARIA, G., SCIAVICCO, L.: `Robust control of robotic manipulators', Proc. 9th IFAC World Congress, 1984, 6, p. 80–85.
-
4)
- AICARDI, M., CAITI, A., CANNATA, G., CASALINO, G.: `Task space robot control: Convergence analysis and gravity compensation via integral feedback', IEEE Conf. on Decision and control, Dec 1996, Kobe, Japan.
-
5)
- BALESTRINO, A., CANNATA, G.: `Techniques for the recursive inversion of matrices', Internal report, GRAAL IR98-02, July 1998, DIST University of Genova (Contact G. Cannata).
-
6)
- G.H. Golub , C. Van Loan . (1996) Matric computations.
-
7)
- Z.Y. HSIA , Z.Y. GUO , L. LI . An adaptive scheme for robot joint trajectory generation. J. Robot. Syst , 6 , 881 - 895
-
1)
http://iet.metastore.ingenta.com/content/journals/10.1049/ip-cta_20010233
Related content
content/journals/10.1049/ip-cta_20010233
pub_keyword,iet_inspecKeyword,pub_concept
6
6