DocumentCode :
2412384
Title :
A new class of robust control laws for tracking of robots
Author :
Qu, Zhihua ; Dawson, D.M. ; Dorsey, John F. ; Lim, S.Y.
Author_Institution :
Dept. of Electr. Eng., Univ. of Central Florida, Orlando, FL, USA
fYear :
1992
fDate :
1992
Firstpage :
1408
Abstract :
For the trajectory following problem of a robot manipulator, a new class of robust control algorithms is proposed. This new class of controls has several important features. First, three kinds of stability results, uniformly and ultimately bounded stability, asymptotic stability, and exponential stability, can be achieved using a control of the same form. Which kind of stability result is achieved is dependent solely upon the designer´s choice of a time-varying gain. The designer has great freedom to choose any specific control in the class. Exact knowledge of robot dynamics is required except that unknown dynamics are required to be bounded in the Euclidean norm by a second-order polynomial function with known coefficients
Keywords :
Lyapunov methods; manipulators; path planning; position control; robots; stability; tracking; Lyapunov´s second method; asymptotic stability; differential inequality; exponential stability; robot dynamics; robot manipulator; robust control algorithms; second-order polynomial function; time-varying gain; tracking control; trajectory following problem; ultimately bounded stability; uniformly bounded stability; Adaptive control; Asymptotic stability; Inductors; Manipulators; Polynomials; Programmable control; Robots; Robust control; Robust stability; Three-term control; Trajectory; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
Type :
conf
DOI :
10.1109/CDC.1992.371478
Filename :
371478
Link To Document :
بازگشت