{'fraction_non_alphanumeric': 0.021621621621621623, 'fraction_numerical': 0.007207207207207207, 'mean_word_length': 5.465116279069767, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Nonlinear bang-bang impact control using time delay: stability analysis and experiments

This paper presents stability analysis of the nonlinear bang-bang impact control for multi degree of freedom robotic manipulators based on the analysis in n L∞ space. The physical implication of sufficient stability conditions are explained in terms of sampling time, accuracy of inertia estimation, control gains, and the rate of change in the Coriolis, centrifugal and disturbance forces. The stability conditions are verified by experiments. Copyright © 2002 IFAC