DocumentCode
2635119
Title
Time-efficient control law for position tracking of robotic arm
Author
Shafiq, Muhammad ; Yousef, Hassan ; Iqbal, Muhammad
Author_Institution
Dept. of ECE, Sultan Qaboos Univ., Muscat, Oman
fYear
2011
fDate
21-23 June 2011
Firstpage
767
Lastpage
772
Abstract
This paper presents a time-efficient control law for the position tracking of single link robotic arm. The proposed control law can be modified or extended to use for other applications. Global asymptotic stability of the closed-loop is assured based on the Lyapunov function. Computer simulation and laboratory scale experimental results show that set-point tracking is fast compared to that of the standard PD controller. The control and output signals are oscillation free.
Keywords
Lyapunov methods; asymptotic stability; closed loop systems; position control; robots; Lyapunov function; asymptotic stability; closed-loop system; computer simulation; control signals; oscillation free; output signals; position tracking; robotic arm; set point tracking; single link robotic arm; standard PD controller; time efficient control law; Asymptotic stability; Gravity; Oscillators; PD control; Robots; Steady-state; Position Tracking; Robot Arm; Time-Efficient Control;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics and Applications (ICIEA), 2011 6th IEEE Conference on
Conference_Location
Beijing
ISSN
pending
Print_ISBN
978-1-4244-8754-7
Electronic_ISBN
pending
Type
conf
DOI
10.1109/ICIEA.2011.5975689
Filename
5975689
Link To Document