Decentralized PD and robust nonlinear control of robot arms

Author

Liu, Ming

Author_Institution

Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Clayton, Vic., Australia

Volume

3

fYear

1996

fDate

14-17 Oct 1996

Firstpage

1800

Abstract

A decentralized PD and robust nonlinear feedback law for robot motion control is proposed. The control system structure is based on the generalized tracking error proposed by Slotine-Li (1987). Using this system structure, we investigate the stability feature of PD control which has been widely employed by robot systems. A decentralized robust nonlinear feedback term is then added to it, which improves the specification of tracking errors from local convergence to global convergence and reduces the size of the residual set. Since the approach keeps the simplicity of the independent joint controller structure it can be easily implemented in most robot systems without hardware alteration

Keywords

decentralised control; feedback; manipulator dynamics; motion control; nonlinear control systems; robust control; tracking; two-term control; PD control; convergence; decentralized control; feedback; manipulators; motion control; robot arms; robust nonlinear control; stability; tracking error; Control systems; Convergence; Error correction; Feedback; Manipulators; Motion control; Robot control; Robot motion; Robust control; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1996., IEEE International Conference on

Conference_Location

Beijing

ISSN

1062-922X

Print_ISBN

0-7803-3280-6

Type

conf

DOI

10.1109/ICSMC.1996.565381

Filename

565381