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
fDate :
June 30 2004-July 2 2004
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;
Conference_Titel :
American Control Conference, 2004. Proceedings of the 2004
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-7803-8335-4
