Title :
A novel approach to prove the stability of PD control with feedforward compensation in robotic trajectory tracking
Author :
Xinchun Li ; Jianqiang Yi ; Dongbin Zhao ; Zuoshi Song
Abstract :
In the present paper, we propose a novel approach to prove the stability of PD control with feedforward compensation in trajectory-tracking of robot manipulator. Based on the state equation of robot manipulator, a new simple Lyapunov Function is constructed, with which the stability of the controller is proved. In addition, the way to select the proportional and derivative gains is also given. Simulation tests are included, with reference to a planar two-link manipulator.
Keywords :
Equations; Intelligent robots; Lyapunov method; Manipulators; PD control; Robotics and automation; Stability; Symmetric matrices; Trajectory; Transmission line matrix methods;
Conference_Titel :
Intelligent Mechatronics and Automation, 2004. Proceedings. 2004 International Conference on
Conference_Location :
Chengdu, China
Print_ISBN :
0-7803-8748-1
DOI :
10.1109/ICIMA.2004.1384160
