A globally convergent robust controller for robot manipulator

被引：7
作者：
Cai, DW [1 ]
Dai, Y [1 ]
机构：
[1] Iwate Prefectural Univ, Dept Software & Comp Sci, Takizawa, Iwate 0200193, Japan
来源：
PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA'01) | 2001年
关键词：
D O I：
10.1109/CCA.2001.973886
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we propose a robust nonlinear control scheme for the tracking problem of rigid robot manipulator. In the design of this control scheme, Lyapunov stability theory and some important properties of rigid manipulator are used. With the presented control scheme, the closed-loop system is globally exponentially stable, the output tracking error asymptotically converges to zero. Based on the control scheme, a desired transient error performance may be achieved by choosing appropriate control parameters.
引用
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页码：328 / 332
页数：3
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