Global stability analysis for some trajectory-tracking control schemes of robotic manipulators

Authors
Chen, QJ Chen, HT Wang, YJ Woo, PY
Citation
Qj. Chen et al., Global stability analysis for some trajectory-tracking control schemes of robotic manipulators, J ROBOTIC S, 18(2), 2001, pp. 69-75
Citations number
9
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
JOURNAL OF ROBOTIC SYSTEMS
ISSN journal
07412223 → ACNP
Volume
18
Issue
2
Year of publication
2001
Pages
69 - 75
Database
ISI
SICI code
0741-2223(200102)18:2<69:GSAFST>2.0.ZU;2-K
Abstract
With a same Lyapunov function defined, the stability, robustness, and conve rgence speed of three widely used trajectory-tracking control schemes, i.e. , the proportional-derivative (PD) control, the PD control with a feedforwa rd compensation, and the PD control with a calculated feedforward compensat ion, are presented. All three control schemes are globally exponentially co nvergent. The trajectory-tracking features of the three control schemes are theoretically analyzed and compared. Suggestions are given for the choices of the control parameters. (C) 2001 John Wiley & Sons, Inc.