A Novel Stability Proof of Robot Manipulators by PD-IPD Regulators

A semiglobally stable PD-I^PD regulator for robot manipulators is recently presented in , where the stability proof is based on a Lyapunov function involving stringent conditions on the feedback matrices, and then which leads to overmuch restriction on the optional region of the controller parameters and makes the engineers very difficultly obtain the satisfied control performance. To avoid this drawback, we provide a novel proof of the semiglobal PD-I^PD stabilization of robot manipulators with relatively looser conditions, and then the optional region of the PD-I^PD controller gains is remarkably enlarged. The theoretical analysis and simulation results show that with novel stability conditions, the PD-I^PD regulator for robot manipulators can not only still achieve the asymptotically stable control but also which make the engineers have more freedom to choose the controller gains and more easily design a high performance controller.