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

fYear

1997

fDate

1-7 July 1997

Firstpage

1921

Lastpage

1926

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 q_d(·). 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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1997 European

Conference_Location

Brussels

Print_ISBN

978-3-9524269-0-6

Type

conf

Filename

7082385