A calculus for computing Filippov's differential inclusion with application to the variable structure control of robot manipulators
This paper develops a calculus for computing Filippov's differential inclusion which
simplifies the analysis of dynamical systems described by differential equations with a
discontinuous right-hand side. In particular, when a slightly generalized Lyapunov theory is
used, the rigorous stability analysis of variable structure systems is routine. As an example, a
variable structure control law for rigid-link robot manipulators is described and its stability is
proved.
simplifies the analysis of dynamical systems described by differential equations with a
discontinuous right-hand side. In particular, when a slightly generalized Lyapunov theory is
used, the rigorous stability analysis of variable structure systems is routine. As an example, a
variable structure control law for rigid-link robot manipulators is described and its stability is
proved.
This paper develops a calculus for computing Filippov's differential inclusion which simplifies the analysis of dynamical systems described by differential equations with a discontinuous right-hand side. In particular, when a slightly generalized Lyapunov theory is used, the rigorous stability analysis of variable structure systems is routine. As an example, a variable structure control law for rigid-link robot manipulators is described and its stability is proved.
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