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

fYear

2012

fDate

10-13 Dec. 2012

Firstpage

1172

Lastpage

1179

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2012 IEEE 51st Annual Conference on

Conference_Location

Maui, HI

ISSN

0743-1546

Print_ISBN

978-1-4673-2065-8

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2012.6426562

Filename

6426562