DocumentCode
1586958
Title
Proving the uniform boundedness of some commonly used control schemes for robots
Author
Wang, Xi ; Chen, Lung-Kee
Author_Institution
Oregon State Univ., Corvallis, OR, USA
fYear
1989
Firstpage
1491
Abstract
The uniform boundedness of the errors of some commonly used control schemes is considered analytically. Both fixed-point and trajectory control with proportional/derivative feedback are shown. The uniform boundedness of both the feedforward dynamic compensation method and the reduced feedforward compensation method are shown. A simple control scheme is given. An application to walking machines is presented. A technique of choosing Lyapunov functions is proposed to solve these problems
Keywords
compensation; control system analysis; feedback; robots; two-term control; Lyapunov functions; PD control; control schemes; dynamic compensation; fixed-point control; proportional/derivative feedback; reduced feedforward compensation; robots; trajectory control; uniform boundedness; walking machines; Feedback control; Legged locomotion; Lyapunov method; Manipulators; Mathematics; Mechanical engineering; Optimal control; PD control; Robot control; Symmetric matrices;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location
Scottsdale, AZ
Print_ISBN
0-8186-1938-4
Type
conf
DOI
10.1109/ROBOT.1989.100190
Filename
100190
Link To Document