Tracking controller for robot manipulators via composite nonlinear feedback law

被引：0
作者：
Peng Wendong [1 ]
Su Jianbo [1 ]
机构：
[1] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China
来源：
JOURNAL OF SYSTEMS ENGINEERING AND ELECTRONICS | 2009年 / 20卷 / 01期
基金：
中国国家自然科学基金;
关键词：
robot control; motion tracking; composite nonlinear feedback; stability; friction; INPUT SATURATION; LINEAR-SYSTEMS; SERVO SYSTEM; COMPENSATION; PERFORMANCE; IMPROVEMENT; FRICTION; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A composite nonlinear feedback tracking controller for motion control of robot manipulators is described. The structure of the controller is composed of a composite nonlinear feedback law plus full robot nonlinear dynamics compensation. The stability is carried out in the presence of friction. The controller takes advantage of varying damping ratios induced by the composite nonlinear feedback control, so the transient performance of the closed-loop is remarkably improved. Simulation results demonstrate the feasibility of the proposed method.
引用
收藏
页码：129 / 135
页数：7
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