Global Stability Of Trajectory Tracking Of Robot Under Pd Control

    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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