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
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;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100190
