DocumentCode
425253
Title
Stability and robustness of a class of nonlinear controllers for robot manipulators
Author
Ravichandran, T. ; Wang, D.W.L. ; Heppler, G.R.
Author_Institution
Waterloo Univ., Ont., Canada
Volume
6
fYear
2004
fDate
June 30 2004-July 2 2004
Firstpage
5262
Abstract
The stability and robustness analysis of PD-plus-feedforward controllers comprised of a nonlinear gain PD feedback controller and a nominal manipulator dynamics feedforward term is presented for the tracking control of rigid robot manipulators. Exponential convergence and the uniform ultimate boundedness of the tracking errors are established. Finally, simulation results are also presented.
Keywords
PD control; control system analysis; control system synthesis; convergence; feedback; feedforward; manipulator dynamics; nonlinear control systems; position control; robust control; PD feedforward controllers; control system synthesis; exponential convergence; manipulator dynamics; nonlinear gain PD feedback controller; robot manipulators; robustness analysis; stability analysis; tracking control; tracking errors;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2004. Proceedings of the 2004
Conference_Location
Boston, MA, USA
ISSN
0743-1619
Print_ISBN
0-7803-8335-4
Type
conf
Filename
1384688
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