DocumentCode
2565604
Title
Global stability analysis for some trajectory-tracking control schemes of robotic manipulators
Author
Chen, Qijun ; Chen, Huitang ; Wang, Yuejuan ; Woo, Pengyung
Author_Institution
Dept. of Electr. Eng., Tongji Univ., Shanghai, China
Volume
5
fYear
2000
fDate
2000
Firstpage
3343
Abstract
With a same Lyapunov function defined, the stability, robustness and convergence speed of three widely used trajectory-tracking control schemes, i.e., the PD control, the PD control with a feedforward compensation and the PD control with a calculated feedforward compensation, are presented. All the three control schemes are globally and exponentially convergent. The trajectory-tracking features of the three control schemes are theoretically analyzed and compared. Suggestions are given for the choices of the control parameters
Keywords
Lyapunov methods; compensation; feedforward; manipulator dynamics; stability; tracking; two-term control; Lyapunov function; PD control; compensation; feedforward; robotic manipulators; robustness; stability; trajectory-tracking; Gravity; Lyapunov method; Manipulator dynamics; PD control; Robot control; Robust stability; Service robots; Stability analysis; Symmetric matrices; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2000. Proceedings of the 2000
Conference_Location
Chicago, IL
ISSN
0743-1619
Print_ISBN
0-7803-5519-9
Type
conf
DOI
10.1109/ACC.2000.879185
Filename
879185
Link To Document