G lobal Positioning of Robot Manipulators via NPD-I NP-D Regulators
This paper deals with the position control of robot manipulators with uncertain and varying-time payload. Proposed is a novel nonlinear regulator consisting of a linear combination of the bounded proportional control mode, bounded derivative control mode, and two integral control modes driven by a nonlinear function of position errors and the derivative of position errors, respectively. By using Lyapunov’s direct method and LaSalle’s invariance principle, the simple explicit conditions on the regulator gains to ensure global asymptotic stability are provided. The theoretical analysis and simulation results show that: an attractive feature of our scheme is that this kind of NPID-like regulators has the faster convergence, better flexibility and stronger robustness with respect to uncertain and varying-time payload, and then the optimum response can be achieved by a set of control parameters in the whole control domain of interest, even under the case that the payload is changed abruptly.
Manipulators Robot control PID control global stability
Da-Fang Yu Bai-Shun Liu
Department of Missile & Underwater weaponAcademe of Naval SubmarineQingDao, China Department of Battle & Command Academe of Naval Submarine QingDao, China
国际会议
成都
英文
1-5
2010-08-20（万方平台首次上网日期，不代表论文的发表时间）