Title :
A globally convergent robust controller for robot manipulator
Author :
Cai, Dawei ; Dai, Ying
Author_Institution :
Dept. of Software & Comput. Sci., Iwate Prefectural Univ., Japan
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;
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
DOI :
10.1109/CCA.2001.973886
