Globally asymptotically stable ‘PD+’ controller for robot manipulators
From MaRDI portal
Publication:3795566
DOI10.1080/00207178808906130zbMath0649.93052OpenAlexW2084828843MaRDI QIDQ3795566
Publication date: 1988
Published in: International Journal of Control (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1080/00207178808906130
Application models in control theory (93C95) Adaptive control/observation systems (93C40) Asymptotic stability in control theory (93D20) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Control/observation systems governed by ordinary differential equations (93C15)
Related Items (45)
A refinement of Matrosov's theorem for differential inclusions ⋮ Path tracking control of robot manipulators via the VSS approach ⋮ Matrosov theorem for parameterized families of discrete-time systems ⋮ A class of nonlinear PD-type controllers for robot manipulators ⋮ Spacecraft coordination control in 6DOF: integrator backstepping vs passivity-based control ⋮ A stable motion control system for manipulators via fuzzy self-tuning ⋮ Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial ⋮ Unnamed Item ⋮ Strict Lyapunov functions for control of robot manipulators ⋮ Optimization of interval type-2 fuzzy logic controllers for a perturbed autonomous wheeled mobile robot using genetic algorithms ⋮ Achievement of chaotic synchronization trajectories of master-slave manipulators with feedback control strategy ⋮ On the construction of the Lyapunov function with sign-definite derivative with the help of auxiliary functions with sign-constant derivatives ⋮ A new bounded kinematic controller for operational space motion of manipulators ⋮ From underactuation to quasi‐full actuation: Aiming at a unifying control framework for articulated soft robots ⋮ Robust trajectory‐tracking in finite‐time for robot manipulators using nonlinear proportional‐derivative control plus feed‐forward compensation ⋮ Trajectory planning and tracking control for 6‐DOF Stanford manipulator based on adaptive sliding mode multi‐stage switching control ⋮ Trajectory-tracking in finite-time for robot manipulators with bounded torques via output-feedback ⋮ Pulse width modulation control for stochastic Lagrange systems ⋮ On reduction of differential inclusions and Lyapunov stability ⋮ The variable-inertia modified computed-torque control of robot manipulators ⋮ Model-independent position domain sliding mode control for contour tracking of robotic manipulator ⋮ Hybrid attitude tracking of rigid bodies without angular velocity measurement ⋮ On Global Trajectory Tracking Control for an Omnidirectional Mobile Robot with a Displaced Center of Mass ⋮ Global continuous finite-time tracking of robot manipulators ⋮ Nested Matrosov function theorem for nonlinear delayed systems ⋮ On tracking control of a class of complementary-slackness hybrid mechanical systems ⋮ Aerial cooperative transporting and assembling control using multiple quadrotor–manipulator systems ⋮ Leader-follower formation stabilization and tracking control for heterogeneous planar underactuated vehicle networks ⋮ An addendum on Robust control of robots by the computed torque method ⋮ Global output feedback tracking control for a class of Lagrangian systems ⋮ Velocity field control of a class of electrically-driven manipulators ⋮ The spring paradigm in tracking control of simple mechanical systems ⋮ Decentralized variable structure control for tracking in non-linear systems ⋮ Modification of a PD+ controller for the orbital stabilization of the motions of an all-wheel drive mechanical system ⋮ Practical trajectory tracking of random Lagrange systems ⋮ Global trajectory tracking through output feedback for robot manipulators with bounded inputs ⋮ On global trajectory tracking control of robot manipulators in cylindrical phase space ⋮ TRACKING CONTROL OF COMPLEMENTARITY LAGRANGIAN SYSTEMS ⋮ Adaptive Fuzzy PD+ Control for Attitude Maneuver of Rigid Spacecraft ⋮ Neural network compensation control for mechanical systems with disturbances ⋮ Distributed leaderless consensus algorithms for networked Euler–Lagrange systems ⋮ A generalized trajectory tracking controller for robot manipulators with bounded inputs ⋮ Strict Lyapunov functions for finite-time control of robot manipulators ⋮ Output feedback control for attitude tracking ⋮ Trajectory tracking control using velocity observer and disturbances observer for uncertain robot manipulators without tachometers
Cites Work
- Stability theory by Liapunov's direct method
- Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
- A calculus for computing Filippov's differential inclusion with application to the variable structure control of robot manipulators
- A New Feedback Method for Dynamic Control of Manipulators
- <tex>L_infty</tex>-stability criteria for interconnected systems using exponential weighting
This page was built for publication: Globally asymptotically stable ‘PD+’ controller for robot manipulators
