Title :
Improvements on saturating PD with gravity compensation control for robotic manipulators
Author :
Zhao, Dongya ; Li, Shaoyua ; Gao, Feng
Author_Institution :
Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China
Abstract :
Three novel saturating PD with gravity compensation control laws are developed for robotic manipulators in this study. By employing nonlinear proportional control, the proposed approaches extend existing saturating PD control for robotic manipulators. Stability analysis and simulations are presented to validate the proposed approach.
Keywords :
PD control; compensation; manipulators; nonlinear control systems; stability; gravity compensation control; nonlinear proportional control; robotic manipulator; saturating PD control; stability analysis; Actuators; Adaptive control; Convergence; Gravity; Manipulators; Output feedback; PD control; Programmable control; Robot control; Torque control;
Conference_Titel :
Asian Control Conference, 2009. ASCC 2009. 7th
Conference_Location :
Hong Kong
Print_ISBN :
978-89-956056-2-2
Electronic_ISBN :
978-89-956056-9-1
