Title :
Global continuous finite-time output feedback regulation of robot manipulators
Author :
Su, Yuxin ; Zheng, Chunhong ; Muller, Peter C.
Author_Institution :
Sch. of Electro-Mech. Eng., Xidian Univ., Xi´´an
Abstract :
A simple continuous output feedback proportional-derivative (PD) plus desired gravity compensation controller is proposed to solve the global finite-time regulation of robot manipulators with position measurements only. The global finite-time convergence is proved by using Lyapunov theory and finite-time stability theory. Simulations preformed on a two degrees-of-freedom (DOF) manipulator demonstrate the expected properties of the proposed approach.
Keywords :
Lyapunov methods; PD control; compensation; continuous time systems; control system synthesis; feedback; manipulators; nonlinear control systems; position measurement; Lyapunov theory; control design; finite-time stability theory; global continuous finite-time output feedback regulation; gravity compensation controller; nonlinear systems; position measurements; proportional-derivative controller; robot manipulators; Error correction; Gravity; Manipulator dynamics; Output feedback; Position measurement; Robot sensing systems; Robotics and automation; Sliding mode control; Stability; Velocity measurement;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543727
