A Semiglobally Stable PD-IPD Regulator for Robot Manipulators

摘要：

This paper deals with the position control of robot manipulators with uncertain payload. Proposed is a simple class of robot regulators consisting of a finear PD plus an integral action driven by PD controller. By using Lyapunovs direct method and LaSalles invarianee principle, the simple explicit conditions on the regulator gains to ensure semiglobal asymptotic stability are provided. The theoretical analysis and simulation results show that: an attractive feature of our scheme is that PD-IPD controller has better flexibility and stronger robustness with respect to uncertain payload, and then the optimum response can be achieved by a set of control parameters in the whole control domain, even under the case that the payload is changed abruptly.

关键词： Manipulators Robot control PID control Semiglobal stability

作者: Bai-shun Liu Fan-Cai Lin

作者单位: Department of Battle & Command Academe of Naval Submarine QingDao,China

会议类型: 国际会议

会议名称: 2009 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2009)(2009年检测技术与机械自动化国际会议)

会议地点: 长沙

会议语种:英文

页码: 763-766

在线出版日期: 2009-04-11（万方平台首次上网日期，不代表论文的发表时间）