Title

Global Stability Of Trajectory Tracking Of Robot Under Pd Control

Authors

Authors

Z. H. Qu

Comments

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Abbreviated Journal Title

Dynam. Control

Keywords

ROBUST-CONTROL; LAW; Automation & Control Systems; Engineering, Mechanical

Abstract

It is shown for the first time that, even if there exist nonlinear unknown dynamics, a PD feedback control without higher-order nonlinear compensation can guarantee global stability for the trajectory following problem of a robot manipulator. The PD control under investigation is a position and velocity feedback control with a time-varying gain, and does not contain any higher-order nonlinearity. The proposed control is in general continuous and does not require any knowledge of robotic systems except size bounding function on nonlinear dynamics. Asymptotic stability of velocity tracking error and arbitrarily small position tracking error are guaranteed. Another novel and interesting result shown in this paper is that a measure on protection against saturation of actuators has been incorporated into consideration of control design and robustness analysis.

Journal Title

Dynamics and Control

Volume

4

Issue/Number

1

Publication Date

1-1-1994

Document Type

Article

Language

English

First Page

59

Last Page

71

WOS Identifier

WOS:A1994NM32400004

ISSN

0925-4668

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