Title :
Decentralized stabilization of a class of robotic manipulators
Author :
Han, Yuexin ; Sinha, Naresh K.
Author_Institution :
Dept. of Electr. & Comput. Eng., McMaster Univ., Hamilton, Ont., Canada
Abstract :
A scheme is proposed for analyzing the global stability of robotic manipulators with a time-varying parameter model of the systems. The results establish the global stability of a class of manipulator control laws by means of a robust decentralized control method of time-varying interconnected systems. A novel Lyapunov function is used to demonstrate the stability of the time-varying robot systems. Under certain conditions on the magnitude of the nonlinear perturbed coupling terms, the perturbed robotic system can be shown to be globally asymptotically stable
Keywords :
Lyapunov methods; decentralised control; robots; stability; time-varying systems; Lyapunov function; decentralized control; global stability; nonlinear perturbed coupling; robotic manipulators; time-varying parameter model; Control systems; Distributed control; Interconnected systems; Lyapunov method; Manipulators; Robots; Robust control; Robust stability; Stability analysis; Time varying systems;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70660
