A Novel Stability Proof of Robot Manipulators by PD-IPD Regulators
A semiglobally stable PD-IPD regulator for robot manipulators is recently presented in 1, where the stability proof is based on a Lyapunov function involving stringent conditions on the feedback matrices, and then which leads to overmuch restriction on the optional region of the controller parameters and makes the engineers very difficultly obtain the satisfied control performance. To avoid this drawback, we provide a novel proof of the semiglobal PD-IPD stabilization of robot manipulators with relatively looser conditions, and then the optional region of the PD-IPD controller gains is remarkably enlarged. The theoretical analysis and simulation results show that with novel stability conditions, the PD-IPD regulator for robot manipulators can not only still achieve the asymptotically stable control but also which make the engineers have more freedom to choose the controller gains and more easily design a high performance controller.
Manipulators Robot control PID control Semiglobal stability
Bai-shun Liu Zhi-Peng Chen
Department of Battle & Command Academe of Naval Submarine QingDao, China
国际会议
长沙
英文
2306-2309
2009-10-10（万方平台首次上网日期，不代表论文的发表时间）