Title :
Dynamic self-tuning PD control for tracking of robot manipulators
Author :
Armendariz, J. ; Parra-Vega, Vicente ; Garcia-Rodriguez, R. ; Hirai, Shinichi
Author_Institution :
Dept. of Robot., Ritsumeikan Univ., Kusatsu, Japan
Abstract :
Motivated by the passivity-based robot control scheme under unknown dynamics, a self-tuning PD controller with bounded time-varying gains is proposed for trajectory tracking of robot manipulators. The tuning procedure is synthesized on-line by means of a neuro-fuzzy recurrent scheme which produces smooth control input for smooth desired trajectories. Semi-global exponential stability of the closed-loop system is guaranteed via Lyapunov theory. Simulation results make evident and viable the potential characteristics of the proposed controller.
Keywords :
Lyapunov methods; PD control; asymptotic stability; closed loop systems; fuzzy control; manipulator dynamics; neurocontrollers; self-adjusting systems; time-varying systems; trajectory control; Lyapunov theory; bounded time-varying gains; closed-loop system; dynamic self-tuning PD control; neuro-fuzzy recurrent scheme; passivity-based robot control; robot manipulator; semiglobal exponential stability; trajectory tracking; Equations; Manipulator dynamics; Mathematical model; Stability analysis; Trajectory; Fuzzy Logic; Lyapunov Stability; Neural Network; Robot Control;
Conference_Titel :
Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
Conference_Location :
Maui, HI
Print_ISBN :
978-1-4673-2065-8
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2012.6426562
