Title :
Robust robot control for global attraction with finite reachability time
Author :
Kokosy, A. ; Grujic, Lj T.
Author_Institution :
L.M.P. de l´ENIBe, Belfort, France
Abstract :
A robot mathematical model is accepted to incorporate a description of friction phenomena in joints. The following is guaranteed by a proposed robust stabilizing feedback control: 1. positive invariance, global stability and global attraction with a finite reachability time of a set W of sliding motions, and 2. global attraction with a finite reachability time of a desired motion qd(·). The control is robust with respect to unknown and unpredictable form of robot nonlinearities due to friction. The theoretical result is well verified by presented simulations of motions of a three-degree-of-freedom robot.
Keywords :
control nonlinearities; feedback; friction; invariance; mobile robots; motion control; reachability analysis; robust control; variable structure systems; finite reachability time; friction phenomena; global attraction; global stability; robot mathematical model; robot nonlinearities; robust robot control; robust stabilizing feedback control; sliding motions; Asymptotic stability; Friction; Lyapunov methods; Mathematical model; Robot kinematics; Stability analysis; Lyapunov function; global attraction; reachability time; robot control;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
