Estimation and regulation of the rate of convergence of a rigid robot to a set-point with applications to spacecraft attitude control.
type: Item
instance of: scholarly article
title: Estimation and regulation of the rate of convergence of a rigid robot to a set-point with applications to spacecraft attitude control.
zbMATH Open document ID: 1116.93040
DOI: 10.1016/S1468-1218(02)00068-8
published in: Nonlinear Analysis. Real World Applications
publication date: 2003-05-22T00:00:00Z
review text: This paper study some issues associated with the form of the response of a rigid robot under the action of a PD controller. Using the results establish by J. T. Wen and D. S. Bayard, they include here a cross term of the position and the velocity vectors in a relevant Lyapunov candidate function that allows them to present an explicit formula which reflects the effects controller gains of the form of system response. Also, in the case of model uncertainty using the approach presented in this paper, allow us to select the desired controller parameters and to evaluate the form of the system response and the rate of convergence to the set point. Some applications of the approach to spacecraft attitude control have been considered. For the presented cases, some simulation results are given.
reviewed by: Ştefan Zanfir
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 70E60
Mathematics Subject Classification ID: 70M20
Mathematics Subject Classification ID: 93C95
zbMATH DE Number: 1915313
zbMATH Keywords: robot manipulator
zbMATH Keywords: PD controller
zbMATH Keywords: stability
zbMATH Keywords: solution estimate
zbMATH Keywords: rate of convergence
zbMATH Keywords: rigid spacecraft
zbMATH Keywords: attitude control
author: Amit Ailon
author: Michael I. Gil'
author: Rogelio Lozano
MaRDI profile type: Publication
cites work: Estimates of flexible-joint robot model response times and some control applications
cites work: An observer-based set-point controller for robot manipulators with flexible joints
cites work: Global regulation of robots using only position measurements
cites work: Spacecraft attitude control and stabilization: Applications of geometric control theory to rigid body models
cites work: Global regulation of flexible joint robots using approximate differentiation
cites work: Q4857368
cites work: Hamiltonian adaptive control of spacecraft
cites work: A New Feedback Method for Dynamic Control of Manipulators
cites work: Q3141919
cites work: New class of control laws for robotic manipulators Part 1. Non–adaptive case
cites work: The attitude control problem
description: scientific article; zbMATH DE number 1915313