Title

Tracking Control Of Rigid-Link Electrically-Driven Robot Manipulators

Title - Alternative

Int. J. Control

Keywords

FEEDBACK; Automation & Control Systems

Abstract

This paper illustrates a simple, hand-crafted approach which can be used to design tracking controllers for rigid-link electrically-driven (RLED) robot manipulators. The control methodology is intuitively simple since it is based on concepts readily identified by most control engineers. To illustrate the approach, we develop a corrective tracking controller for the RLED robot dynamics which yields global exponential stability for the link tracking error under the assumption of exact model knowledge. To compensate for the uncertainties in the rigid-link electrically-driven robot model, we then design a corrective robust tracking controller which yields global uniform ultimate bounded stability of the link tracking error. The proposed controller is robust with regard to parametric uncertainties and additive bounded disturbances while correcting for the typically ignored electrical actuator dynamics.

Publication Title

International Journal of Control

Volume

56

Issue/Number

5

Publication Date

1-1-1992

Document Type

Article

Language

English

First Page

991

Last Page

1006

WOS Identifier

WOS:A1992JX01800001

ISSN

0020-7179

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