DocumentCode :
313648
Title :
Global stabilization of uncertain manipulators using bounded controls
Author :
Colbaugh, R. ; Barany, E. ; Glass, K.
Author_Institution :
Dept. of Mech. Eng., New Mexico State Univ., Las Cruces, NM, USA
Volume :
1
fYear :
1997
fDate :
4-6 Jun 1997
Firstpage :
86
Abstract :
This paper considers the position stabilization problem for uncertain robot manipulators in the presence of constraints on the available actuator torques, and proposes two new controllers as solutions to this problem. The first controller is derived under the assumption that the manipulator state is measurable, while the second strategy is developed for those applications in which only position measurements are available. Each scheme consists of a nonadaptive component for gross position control and an adaptive component to ensure convergence to the desired position. The controllers are computationally simple, require very little information regarding the manipulator model or the payload, and ensure that the position error is globally convergent
Keywords :
Lyapunov methods; convergence; manipulator dynamics; position control; robust control; state feedback; uncertain systems; Lyapunov function; actuator torques; bounded controls; convergence; global stabilization; position control; robust control; stabilisation; state feedback; uncertain manipulators; Actuators; Adaptive control; Convergence; Manipulators; Payloads; Position control; Position measurement; Programmable control; Robots; Torque control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
ISSN :
0743-1619
Print_ISBN :
0-7803-3832-4
Type :
conf
DOI :
10.1109/ACC.1997.611760
Filename :
611760
Link To Document :
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