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

    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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