Title

Global Stability Of Trajectory Tracking Of Robot Under Pd Control

Keywords

Lyapunov function; Nonlinear uncertainties; Robotics; Robust control; Tracking control

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 do not contain any higher-order nonlinearity. Another novel and interesting result shown in this paper is that a measure on protection against saturation of actuators may be incorporated into consideration of control design and robustness analysis.

Publication Date

1-1-1992

Publication Title

Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992

Number of Pages

8-12

Document Type

Article; Proceedings Paper

Identifier

scopus

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/CCA.1992.269907

Socpus ID

85034038152 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/85034038152

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