Resumo

AGUILAR. I, Carlos; BONILLA, Moisés  e  CHAVOYA, Oscar. An Exponential Linear Model Matching for a Closed Kinematics Chain. Comp. y Sist. [online]. 2003, vol.7, n.1, pp.40-49. ISSN 2007-9737.

In this paper we propose an implicit linear control law for a two degree freedom manipulator whose aim is to stabilize and match a linear model. We show that for any finite initial condition there exists a sufficient small control parameter, ε, such that the model matching is exponentially achieved.

Palavras-chave : Parallel Robots; Lyapunov 2nd method; Stability; Implicit Systems; PD control law.

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