A globally convergent robust controller for robot manipulator

Author

Cai, Dawei ; Dai, Ying

Author_Institution

Dept. of Software & Comput. Sci., Iwate Prefectural Univ., Japan

fYear

2001

fDate

2001

Firstpage

328

Lastpage

332

Abstract

In this paper, we propose a robust nonlinear control scheme for the tracking problem of rigid robot manipulator. In the design of this control scheme, Lyapunov stability theory and some important properties of rigid manipulator are used. With the presented control scheme, the closed-loop system is globally exponentially stable, the output tracking error asymptotically converges to zero. Based on the control scheme, a desired transient error performance may be achieved by choosing appropriate control parameters

Keywords

Lyapunov methods; asymptotic stability; closed loop systems; control system synthesis; convergence; manipulators; nonlinear control systems; robust control; tracking; Lyapunov stability theory; asymptotic convergence; closed-loop system; control scheme design; global exponential stability; globally convergent robust controller; output tracking error; rigid robot manipulator; robust nonlinear control; tracking; transient error performance; Adaptive control; Control systems; Error correction; Manipulator dynamics; Parameter estimation; Programmable control; Robot control; Robot kinematics; Robust control; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on

Conference_Location

Mexico City

Print_ISBN

0-7803-6733-2

Type

conf

DOI

10.1109/CCA.2001.973886

Filename

973886