Title

Lyapunov recursive design of robust adaptive tracking control with L-2-gain performance for electrically-driven robot manipulators

Authors

Authors

C. Ishii; T. Shen;Z. Qu

Comments

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Abbreviated Journal Title

Int. J. Control

Keywords

INCLUDING MOTOR DYNAMICS; NONLINEAR H-INFINITY; MOTION CONTROL; DISTURBANCE; Automation & Control Systems

Abstract

This paper develops a new Lyapunov recursive design for the tracking control problem of rigid-link electrically-driven robot manipulators with uncertainty by taking a tracking performance into account. The tracking performance is evaluated by L-2-gain from a torque level disturbance signal to a penalty signal for the tracking error between outputs of the manipulator and desired trajectories. The novelty of our approach is in the strategy to construct such a Lyapunov function recursively that ensures not only stability of a tracking error system but also an L-2-gain constraint, which provides a closed-form solution for non-linear H-infinity control problem without using a Hamilton-Jacobi inequality. Two controllers, i.e. robust and robust adaptive control laws with L-2-gain performance, are designed such that the closed-loop error system is globally stable in the sense of uniform ultimate bounded stability with the L-2-gain less than any given small level. Experimental works are carried out for a two-link electrically-driven manipulator. Experimental results show an enhanced tracking performance of the proposed control scheme.

Journal Title

International Journal of Control

Volume

74

Issue/Number

8

Publication Date

1-1-2001

Document Type

Article

Language

English

First Page

811

Last Page

828

WOS Identifier

WOS:000168753400004

ISSN

0020-7179

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