Nonlinear stability of hybrid control

摘要

A theoretical and experimental investigation on the stability proper- ties of the hybrid control scheme was performed using Lyapunov's theory for both the original scheme, which uses the Jachbian in- verse for mapping Cartesian errors to joint errors, and acheme using the Jacobian pseudoinverse. Both schemes result in position and force controller that are statically coupled in the task space. Stability analysis shows that the pseudoinverse scheme is asyme- Totically stable, whereas the inverse scheme may become unstable Depending on the manipulator attitude and the environmental stiff- Ness.