Stability of Phase-Based Gain Modulation with Designer-Chosen Switch Functions

  title={Stability of Phase-Based Gain Modulation with Designer-Chosen Switch Functions},
  author={Brian S. R. Armstrong and Jos{\'e} A. Gutierrez and Bruce A. Wade and Ralph Joseph},
  journal={I. J. Robotics Res.},
Phase-Based Gain-Modulation (PBGM) control is realized by modulating controller gains in response to the phase of the system state or tracking error. PBGM controllers have been applied to robotic hands, parallel manipulators and flexible mechanisms to give increased damping, reduced tracking error and friction compensation. A novel method is presented to establish Lyapunov stability for PBGM control. Prior PBGM stability results incorporated a constraint which limited the range of provably… CONTINUE READING
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